A real life implementation of fractional order event based PI control

The paper presents a novel generalization of available integer-order event based control strategies into the fractional order field, offering a real life implementation possibility of event based fractional order control. A fractional order Proportional Integral (FOPI) controller is tuned using a set of frequency domain specifications such as gain crossover frequency, phase margin and robustness. A generalized theoretical approach is developed for FOPI event based control strategies. In addition, real-life solutions are provided in order to implement the FOPI controller on a Vertical Take-Off and Landing (VTOL) platform. The proposed methodology is validated experimentally by assessing the closed loop system performance in various scenarios such as step reference tracking, disturbance rejection and robustness to gain uncertainties.

[1]  Alain Oustaloup,et al.  Fractional Order Differentiation and Robust Control Design: CRONE, H-infinity and Motion Control , 2015 .

[2]  Jan Lunze,et al.  A state-feedback approach to event-based control , 2010, Autom..

[3]  Alain Oustaloup,et al.  Fractional Order Differentiation and Robust Control Design , 2015 .

[4]  Margarita Rivero,et al.  Stability of Fractional Order Systems , 2013 .

[5]  Antonio Visioli.  Event-based PID control , 2018, 2018 IEEE 16th World Symposium on Applied Machine Intelligence and Informatics (SAMI).

[6]  Yangquan Chen,et al.  Two direct Tustin discretization methods for fractional-order differentiator/integrator , 2003, J. Frankl. Inst..

[7]  Ioan Nascu,et al.  A Survey of Recent Advances in Fractional Order Control for Time Delay Systems , 2019, IEEE Access.

[8]  YangQuan Chen,et al.  Fundamentals of Fractional-order Systems , 2010 .

[9]  Robin De Keyser,et al.  Tuning of fractional order proportional integral/proportional derivative controllers based on existence conditions , 2018, J. Syst. Control. Eng..

[10]  Prasanta Sarkar,et al.  Direct Discretization Method for Realizing a Class of Fractional Order System in Delta Domain – a Unified Approach , 2019, Automatic Control and Computer Sciences.

[11]  Karl-Erik Årzén,et al.  A simple event-based PID controller , 1999 .

[12]  Mohamad Adnan Al-Alaoui,et al.  Al-Alaoui operator and the new transformation polynomials for discretization of analogue systems , 2008 .

[13]  Sudhir Agashe,et al.  Review of fractional PID controller , 2016 .

[14]  YangQuan Chen,et al.  Tuning and auto-tuning of fractional order controllers for industry applications , 2008 .

[15]  Liang Shan,et al.  Review of Fractional Order Control , 2014 .

[16]  Nicolas Marchand,et al.  Further results on event-based PID controller , 2009, 2009 European Control Conference (ECC).

[17]  Christian Stöcker,et al.  Event-Based Control , 2014 .

[18]  C. Lubich.  Discretized fractional calculus , 1986 .