Optimization of a Fractional PID Controller and Prefilter in Motion Control: MIMO Systems

The contribution in this work deals with non integer (or fractional) order controller and prefilter parameters regulation. A multiobjective optimization of fractional order controller is treated to solve the problem of multivariable systems in path tracking design. After the controller tuning a fractional prefilter of type FBLFD is designed in order to put the closed loop system into a desired bounds. These two developed fractional order controller and prefilter presented its robustness and flexibility compared to previous developed methodologies. To validate and demonstrate the efficacy of proposed approach, a robot model is considered.

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