Abstract
The H∞, µ synthesis and fractional order (FPM) controllers are types of robust designs that use the linearized model of the system and provide a linear controller. The µ synthesis approach directly considers the uncertainty, but H∞ and FOPID run for the worst uncertainty scenario. mFPM is the modified version of FOPID design where 1) it takes into account the given uncertainty by a graphical Phase Margin Distribution Map (PMDP), and 2) reduces the controller design calculations by working on the samples of the system frequency response instead of its analytical equation. The design strategy can perfectly force the desired flatness in the phase margin band and maintain the system performance robustness. For evaluation, the algorithms are applied to a second-order uncertain system and a perturbed UAV roll control. In both cases, the lowest output response variance and the best performance robustness is gained from the mFPM design. This is verified through numerous simulations.
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S. Seyetabaii, Saeed_Repository, Available: http://web. shahed.ac.ir/stabaii/Lists/0papers/AllItems.aspx
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Recommended by Editor PooGyeon Park. This work has been partially supported by the research department of Shahed University.
Saeed Seyedtabaii received the B.Sc. degree in Electronics from Sharif University of Technology, Tehran, Iran, in 1984, the M.Sc degree in electronics from Iran University of Science and Technology, Tehran, Iran, in 1987 and his Ph.D degree in advanced control from DalTech, Halifax, Canada, in 1995. Since 1998, he has been with the Engineering Faculty of Shahed University, Tehran, Iran, where he is currently an Associate Professor. His research interests are robust control, system identification and fault diagnosis.
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Seyedtabaii, S. A Modified FOPID Versus H∞ and µ Synthesis Controllers: Robustness Study. Int. J. Control Autom. Syst. 17, 639–646 (2019). https://doi.org/10.1007/s12555-018-0033-x
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DOI: https://doi.org/10.1007/s12555-018-0033-x