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Number of results

Journal

2013 | 11 | 6 | 750-759

Article title

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

Content

Title variants

Languages of publication

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
  • Łódź University of Technology, 18/22 Stefanowskiego St., 90-924, Łódź, Poland
author
  • Łódź University of Technology, 18/22 Stefanowskiego St., 90-924, Łódź, Poland
author
  • Łódź University of Technology, 18/22 Stefanowskiego St., 90-924, Łódź, Poland
  • Łódź University of Technology, 18/22 Stefanowskiego St., 90-924, Łódź, Poland

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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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