Design And Implementation Of Fractional Order Controller For Nonlinear Process

Abstract

There are many dynamic systems that can be characterized better by using non-integer order dynamic model based on fractional calculus.Traditional calculus is based on integer order differentiation and integration.Comparative study of different fractional order systems using different realization methods is explained.Basic definitions of fractional calculus and fractional order dynamic systems are presented and different fractional order systems are introduced and commented.Numerical methods for the simulation of fractional order systems are given in detail. Also Discretization techniques for fractional order operators are explained in detail. Both digital and analog realization methods of fractional order systems are introduced. Fractional order controller for nonlinear system i.e.inverted pendulum,robotics etc. is designed using simulink and ITAE criteria and implemented using IIR filter. The validity of proposed controller has been checked on Easy dsPIC4 development board and remarks on future research efforts in fractional order control are given.