Fractional-PD controllers design for LTI-systems with time-delay. A geometric approach

In this paper we present a simple procedure to design fractional-PD controllers for Single-Input-Single-Output-Linear Time Invariant (SISO-LTI) systems with constant time-delay. More precisely, based on a geometric approach, we present a methodology not only to design a stabilizing controller, but also to provide practical guidelines to design non-fragile PD controllers. Finally, in order to illustrate the simplicity of the proposed approach as well as the efficiency of the PD controller in a realistic scenario, we consider an experimental setup consisting of controlling a teleoperated system using two Phantom Omni haptic devices. © 2018 IEEE.

Closed loop systems; Delay control systems; Design; Linear control systems; Linear systems; Time delay; Timing circuits; Constant time delays; Geometric approaches; Linear time invariant; Practical guidelines; Realistic scenario; Single input single output; Stabilizing controllers; Tele-operated systems; Controllers

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