Design of an optimal non-integer order controller for controlling a servo system
Jakovljević, Boris (Faculty of Technical Sciences, Novi Sad (Serbia)) | Rapaić, Milan (Faculty of Technical Sciences, Novi Sad (Serbia)) | Jeličić, Zoran (Faculty of Technical Sciences, Novi Sad (Serbia)) | Kapetina, Mirna (Faculty of Technical Sciences, Novi Sad (Serbia))
This paper presents several methods for optimal parameter tuning of non-integer order controllers for controlling a servo system. The servo system used for the purpose of the analysis was a laboratory servo system with both linear and non-linear components. Two types of models were identified for the system by means ofthe Kalman filter. The optimal controllers for the system models were designed to reject disturbances in a system. The optimization of controller parameters was performed in accordance with performance and robustnessdemands. A global optimization technique, i.e. particle swarm optimization (PSO), was used for the controller parameter tuning.The results, i.e.the optimal parameters of non-integer controllers, were given via a number of numerical simulations, and such non-integer controllers were compared to regular PID controllers of the integer order.
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