This paper proposes a method for designing robust fractional-order proportional-integral (FOPI) controllers to be employed in a cascade control system. The FOPI controllers are employed for controlling two nested loops. The design is based on performance and robustness specifications in the frequency domain. Taking inspiration from well-known tuning rules, the open-loop frequency response in the two nested loops is shaped around the gain crossover frequency to obtain a nearly flat phase diagram, then a nearly constant phase margin. The method is tested to control the speed and position of a linearly sliding motor.
|Titolo:||Cascade Fractional-Order PI Control of a Linear Positioning System|
|Data di pubblicazione:||2018|
|Nome del convegno:||3rd IFAC Conference on Advances in Proportional-Integral-Derivative Control, PID 2018|
|Digital Object Identifier (DOI):||10.1016/j.ifacol.2018.06.154|
|Appare nelle tipologie:||4.1 Contributo in Atti di convegno|