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Technical Brief

On Robust Control of Fractional Order Plants: Invariant Phase Margin

[+] Author and Article Information
Mohammad Hossein Basiri

Electrical Engineering Department,
Sharif University of Technology,
P.O. Box 11155-4363,
Tehran 1458889694, Iran
e-mail: mhbasiri@ee.sharif.edu

Mohammad Saleh Tavazoei

Electrical Engineering Department,
Sharif University of Technology,
P.O. Box 11155-4363,
Tehran 1458889694, Iran
e-mail: tavazoei@sharif.edu

Manuscript received September 25, 2014; final manuscript received January 8, 2015; published online April 16, 2015. Assoc. Editor: J. A. Tenreiro Machado.

J. Comput. Nonlinear Dynam 10(5), 054504 (Sep 01, 2015) (5 pages) Paper No: CND-14-1223; doi: 10.1115/1.4029553 History: Received September 25, 2014; Revised January 08, 2015; Online April 16, 2015

Recently, a robust controller has been proposed to be used in control of plants with large uncertainty in location of one of their poles. By using this controller, not only the phase margin and gain crossover frequency are adjustable for the nominal case but also the phase margin remains constant, notwithstanding the variations in location of the uncertain pole of the plant. In this paper, the tuning rule of the aforementioned controller is extended such that it can be applied in control of plants modeled by fractional order models. Numerical examples are provided to show the effectiveness of the tuned controller.

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Figures

Grahic Jump Location
Fig. 1

Closed-loop control system

Grahic Jump Location
Fig. 2

The type of fractional operator of designed controller in the φ-β plane

Grahic Jump Location
Fig. 3

Bode diagrams of loop transfer function in example 1 for different values of parameter T ((a): T = T0 (nominal case), (b): T = 0.05T0, (c): T = 50T0, and (d): T = 100T0)

Grahic Jump Location
Fig. 4

Bode diagrams of loop transfer function in example 2 for different values of parameter T ((a): T = T0 (nominal case), (b): T = 0.05T0, (c): T = 50T0, and (d): T = 100T0)

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