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    Non-fragile tuning of fractional-order PD controllers for IPD-modelled processes

    , Article IFAC Proceedings Volumes (IFAC-PapersOnline) ; 2013 , Pages 361-366 ; 14746670 (ISSN) ; 9783902823274 (ISBN) Bahavarnia, M ; Tavazoei, M. S ; Mesbahi, A ; Sharif University of Technology
    This paper deals with introducing non-fragile algebraic tuning rules for fractional-order PD controllers where they are used in controlling processes modeled in Integral Plus Delay (IPD) forms. These tuning rules are obtained based on a recently introduced approach, named as the centroid approach, which results in non-fragile tuning methods. Based on this approach, the centroids of two-dimensional admissible regions or the center of gravity of three-dimensional admissible regions in controller parameter space give non-fragile options for choosing controller parameters. © 2013 IFAC  

    Design of Fractional Order Controllers for Preservation of Phase Margin in the Presence of Parametric Uncertainties

    , M.Sc. Thesis Sharif University of Technology Basiri, Mohammad Hossein (Author) ; Tavazoei, Mohammad Saleh (Supervisor)
    In the present thesis, first of all we consider a particular class of fractional order plants which have uncertainty in their time constant.In order to make the closed loop system robust against variations of the aforementioned parameter, a robust fractional order controller will be designed and the corresponding tuning rule will be expressed. By using the proposed controller, phase margin of the system will be preserved on a desired value for any value of the uncertain parameter and also gain crossover frequency of the system, in the nominal case, will be adjustable.Also another class of fractional order system will be considered. For these systems, the problem is the same as the former... 

    Fractional PI tuning satisfying gain and phase margin constraints

    , Article Proceedings of the ASME Design Engineering Technical Conference, 28 August 2011 through 31 August 2011 ; Volume 3, Issue PARTS A AND B , August , 2011 , Pages 227-233 ; 9780791854808 (ISBN) Paridari, K ; Tavazoei, M. S ; Sharif University of Technology
    In this paper, an algebraic tuning rule is presented for fractional PI controllers to control first order plus dead-time processes. By using the performance map (PM) method, this tuning rule is derived in order to set the gain margin of the control system close to 3 and the phase margin close to 60 degrees. The robustness and performance of this tuning rule are compared with some well-known PI tuning rules. Simulation results are brought to demonstrate the effectiveness and robustness of this tuning formula against process dynamic uncertainties in comparison with the other tuning methods  

    Temperature control of a cutting process using fractional order proportional-integral-derivative controller

    , Article Journal of Dynamic Systems, Measurement and Control, Transactions of the ASME ; Volume 133, Issue 5 , March , 2011 ; 00220434 (ISSN) Tavakoli Kakhki, M ; Haeri, M ; Sharif University of Technology
    In this paper, the fractionalized differentiating method is implemented to reduce commensurate fractional order models complexity. The prominent properties of this method are its simplicity and guarantee of preserving the stability of a specific class of fractional order models in their reduced counterparts. The presented reduction method is employed in simplifying complicated fractional order controllers to a fractional order PID (FOPID) controller and proposing tuning rules for its parameters adjustment. Finally, the efficiency of the FOPID tuning rule obtained based on the proposed reduction method is shown in the temperature control of a cutting process  

    Fractional order model reduction approach based on retention of the dominant dynamics: Application in IMC based tuning of FOPI and FOPID controllers

    , Article ISA Transactions ; Volume 50, Issue 3 , July , 2011 , Pages 432-442 ; 00190578 (ISSN) Tavakoli Kakhki, M ; Haeri, M ; Sharif University of Technology
    Fractional order PI and PID controllers are the most common fractional order controllers used in practice. In this paper, a simple analytical method is proposed for tuning the parameters of these controllers. The proposed method is useful in designing fractional order PI and PID controllers for control of complicated fractional order systems. To achieve the goal, at first a reduction technique is presented for approximating complicated fractional order models. Then, based on the obtained reduced models some analytical rules are suggested to determine the parameters of fractional order PI and PID controllers. Finally, numerical results are given to show the efficiency of the proposed tuning... 

    A supervisory fuzzy-PID controller for a MIMO biped robot balance in frontal plane

    , Article 2008 ASME International Mechanical Engineering Congress and Exposition, IMECE 2008, Boston, MA, 31 October 2008 through 6 November 2008 ; Volume 2 , 2009 , Pages 307-314 ; 9780791848630 (ISBN) Zomorodi Moghadam, H ; Haghshenas Jaryani, M ; Farahmand, F ; Sharif University of Technology
    In this paper we propose to control a bipedal robot in an unstable position by means of a PID controller that gains are turned by a fuzzy logic system. For that, a model of planar 3 linked segment consisting of limb, trunk and extended arms with fixed base is used. Fuzzy if-then rules are constructed based on human expert knowledge and biomechanics studies for tuning of PID's gain. For construction of tuning rules, we have developed an optical measuring system to record experimental data of balance keeping of a human in an unstable position. The control model is based on three sets of different global variables: (1) limb orientation and its derivative, (2) trunk/upper attitude and its...