TY - JOUR
T1 - An approach to design MIMO FO controllers for unstable nonlinear plants
AU - Rojas-Moreno, Arturo
N1 - Publisher Copyright:
© 2014 Chinese Association of Automation.
PY - 2016/7
Y1 - 2016/7
N2 - This paper develops an approach to control unstable nonlinear multi-inputs multi-output (MIMO) square plants using MIMO fractional order (FO) controllers. The controller design uses the linear time invariant (LTI) state space representation of the nonlinear model of the plant and the diagonal closedloop transfer matrix (TM) function to ensure decoupling between inputs. Each element of the obtained MIMO controller could be either a transfer function (TF) or a gain. A TF is associated in turn with its corresponding FO TF. For example, a D (Derivative) TF is related to a FO TF of the form D±, ± = [0, 1]. Two applications were performed to validate the developed approach via experimentation: control of the angular positions of a manipulator, and control of the car and arm positions of a translational manipulator.
AB - This paper develops an approach to control unstable nonlinear multi-inputs multi-output (MIMO) square plants using MIMO fractional order (FO) controllers. The controller design uses the linear time invariant (LTI) state space representation of the nonlinear model of the plant and the diagonal closedloop transfer matrix (TM) function to ensure decoupling between inputs. Each element of the obtained MIMO controller could be either a transfer function (TF) or a gain. A TF is associated in turn with its corresponding FO TF. For example, a D (Derivative) TF is related to a FO TF of the form D±, ± = [0, 1]. Two applications were performed to validate the developed approach via experimentation: control of the angular positions of a manipulator, and control of the car and arm positions of a translational manipulator.
KW - Fractional calculus
KW - control of manipulator
KW - modeling of nonlinear system
KW - multivariable decoupling
KW - multivariable nonlinear system
UR - http://www.scopus.com/inward/record.url?scp=84979083943&partnerID=8YFLogxK
U2 - 10.1109/JAS.2016.7508810
DO - 10.1109/JAS.2016.7508810
M3 - Article
AN - SCOPUS:84979083943
SN - 2329-9266
VL - 3
SP - 338
EP - 344
JO - IEEE/CAA Journal of Automatica Sinica
JF - IEEE/CAA Journal of Automatica Sinica
IS - 3
M1 - 7508810
ER -