| Popis: |
In this paper, a novel fractional order proportional-derivative $(FO-PD^{\mu-1})$ controller design algorithm is proposed for a class of linear systems. The proposed control algorithm is developed using frequency domain approach. As the controller has three parameters to tune, three frequency domain specifications such as phase margin $(\phi_{m})$ , gain crossover frequency $(\omega_{gc})$ and velocity error constant $(K_{v})$ are chosen as desired specifications. Modified Ostaloup recursive approximation (M-ORA) method and MATLAB curve fitting tool are used to realize the $(K_{v})$ specification. The proposed controller is implemented in simulation. The results show that the proposed $FO^{-}-PD^{\mu-1}$ controller provides better results than the existing controllers. |
