Geometrical design of fractional PDμ controllers for linear time-invariant fractional-order systems with time delay Article uri icon


  • This article presents a simple procedure that allows a practical design of fractional –PDμ controllers for single-input single-output linear time-invariant fractional-order systems subject to a constant time delay. The methodology is based on a geometric approach, which provides practical guidelines to design stabilizing and non-fragile PDμ controllers. The simplicity of the proposed approach is illustrated by considering several numerical examples encountered in the control literature. Moreover, with the aim of showing the performance of the PDμ over a classical PD controller, both controllers were implemented at the end of the article in an experimental test-bench consisting a teleoperated robotic system. © IMechE 2019.

publication date

  • 2019-01-01