Robust Fractional Order Controller and Prefilter Tuning in MIMO Motion Control

Abstract

Quite recently, fractional calculus is extensively used in control engineering area. Several approaches of fractional controllers tuning has been considered. In this paper, a multi-input multi-output (MIMO) quantitative feedback theory (QFT) method is combined with a fractional order PD <sup xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">μ</sup> controller and a fractional prefilter to control multivariable systems. Each obtained sub-systems from the MIMO QFT procedure is controlled independently. A new tuning method of fractional order controller is developed in order to ensure stability and robustness. After the controller tuning, a fractional order prefilter is designed and optimized to satisfy the desired performances. The proposed technique effectiveness will be evaluated and tested via a real robot model.