Robust motion planning for a heat rod process

First, heat rod models linking temperature to heat flux density are obtained from system identification using fractional order systems. Then, motion planning of the nominal system is obtained through an open-loop control stemming from flatness principles. Usually, each model should have its own control reference in order to follow a desired output reference. Thanks to a third-generation CRONE controller, the nominal control reference is sufficient, and robust control is also guaranteed regarding model uncertainties and input/output disturbances. Robust motion planning is held on a real heat experiment and comparison between CRONE and PID controllers are proposed on this test bench.

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