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Journal
2013 | 11 | 6 | 750-759
Article title

The variable, fractional-order discrete-time PD controller in the IISv1.3 robot arm control

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EN
Abstracts
EN
In this paper, the discrete differentiation order functions of the variable, fractional-order PD controller (VFOPD) are considered. In the proposed VFOPD controller, a variable, fractional-order backward difference is applied to perform closed-loop, system error, discrete-time differentiation. The controller orders functions which may be related to the controller input or output signal or an input and output signal. An example of the VFOPD controller is applied to the robot arm closed-loop control due to system changes in moment of inertia. The close-loop system step responses are presented.
Publisher

Journal
Year
Volume
11
Issue
6
Pages
750-759
Physical description
Dates
published
1 - 6 - 2013
online
9 - 10 - 2013
Contributors
  • Łódź University of Technology, 18/22 Stefanowskiego St., 90-924, Łódź, Poland, postalcz@p.lodz.pl
author
  • Łódź University of Technology, 18/22 Stefanowskiego St., 90-924, Łódź, Poland, pduch@kis.p.lodz.pl
author
  • Łódź University of Technology, 18/22 Stefanowskiego St., 90-924, Łódź, Poland, mlaski@kis.p.lodz.pl
  • Łódź University of Technology, 18/22 Stefanowskiego St., 90-924, Łódź, Poland, dsan@kis.p.lodz.pl
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Document Type
Publication order reference
Identifiers
YADDA identifier
bwmeta1.element.-psjd-doi-10_2478_s11534-013-0254-9
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