{"product_id":"fractional-order-motion-controls-isbn-9781119944553","title":"Fractional Order Motion Controls","description":"\u003cp\u003eCovering fractional order theory, simulation and experiments, this book explains how fractional order modelling and fractional order controller design compares favourably with traditional velocity and position control systems. The authors systematically compare the two approaches using applied fractional calculus. Stability theory in fractional order controllers design is also analysed.\u003c\/p\u003e \u003cul\u003e \u003cli\u003e Presents material suitable for a variety of real-world applications, including hard disk drives, vehicular controls, robot control and micropositioners in DNA microarray analysis\u003c\/li\u003e \u003cli\u003eIncludes extensive experimental results from both lab bench level tests and industrial level, mass-production-ready implementations\u003c\/li\u003e \u003cli\u003eCovers detailed derivations and numerical simulations for each case\u003c\/li\u003e \u003cli\u003eDiscusses feasible design specifications, ideal for practicing engineers\u003c\/li\u003e \u003c\/ul\u003e \u003cp\u003eThe book also covers key topics including: fractional order disturbance cancellation and adaptive learning control studies for external disturbances; optimization approaches for nonlinear system control and design schemes with backlash and friction. Illustrations and experimental validations are included for each of the proposed control schemes to enable readers to develop a clear understanding of the approaches covered, and move on to apply them in real-world scenarios.\u003c\/p\u003e  \u003cp\u003eAcronyms xix\u003c\/p\u003e \u003cp\u003eForeword xxiii\u003c\/p\u003e \u003cp\u003ePreface xxv\u003c\/p\u003e \u003cp\u003eAcknowledgments xxix\u003c\/p\u003e \u003cp\u003e\u003cb\u003ePART I FUNDAMENTALS OF FRACTIONAL CONTROLS\u003c\/b\u003e\u003c\/p\u003e \u003cp\u003e\u003cb\u003e1 Introduction 3\u003c\/b\u003e\u003c\/p\u003e \u003cp\u003e1.1 Fractional Calculus 3\u003c\/p\u003e 1.2 Fractional Order Controls 9  \u003cp\u003e1.3 Fractional Order Motion Controls 20\u003c\/p\u003e \u003cp\u003e1.4 Contributions 22\u003c\/p\u003e \u003cp\u003e1.5 Organization 22\u003c\/p\u003e \u003cp\u003e\u003cb\u003ePART II FRACTIONAL ORDER VELOCITY SERVO\u003c\/b\u003e\u003c\/p\u003e \u003cp\u003e\u003cb\u003e2 Fractional Order PI Controller Designs for Velocity Servo Systems 25\u003c\/b\u003e\u003c\/p\u003e \u003cp\u003e2.1 Introduction 25\u003c\/p\u003e \u003cp\u003e2.2 FOPTD Systems and Three Controllers Considered 27\u003c\/p\u003e \u003cp\u003e2.3 Design Specifications 27\u003c\/p\u003e \u003cp\u003e2.4 Fractional Order PI and [PI] Controller Designs 28\u003c\/p\u003e 2.5 Simulation 38  \u003cp\u003e2.6 Chapter Summary 39\u003c\/p\u003e \u003cp\u003e\u003cb\u003e3 Tuning Fractional Order PI Controllers for Fractional Order Velocity Systems with Experimental Validation 41\u003c\/b\u003e\u003c\/p\u003e \u003cp\u003e3.1 Introduction 41\u003c\/p\u003e \u003cp\u003e3.2 Three Controllers to Be Designed and Tuning Specifications 42\u003c\/p\u003e \u003cp\u003e3.3 Tuning Three Controllers for FOVS 42\u003c\/p\u003e \u003cp\u003e3.4 Illustrative Examples and Design Procedure Summaries 43\u003c\/p\u003e 3.5 Simulation Illustration 45  \u003cp\u003e3.6 Experimental Validation 49\u003c\/p\u003e 3.7 Chapter Summary 54  \u003cp\u003e\u003cb\u003e4 Relay Feedback Tuning of Robust PID Controllers 59\u003c\/b\u003e\u003c\/p\u003e \u003cp\u003e4.1 Introduction 59\u003c\/p\u003e \u003cp\u003e4.2 Slope Adjustment of the Phase Bode Plot 62\u003c\/p\u003e \u003cp\u003e4.3 The New PID Controller Design Formulae 65\u003c\/p\u003e \u003cp\u003e4.4 Phase and Magnitude Measurement Via Relay Feedback Tests 66\u003c\/p\u003e \u003cp\u003e4.5 Illustrative Examples 67\u003c\/p\u003e 4.6 Chapter Summary 72  \u003cp\u003e\u003cb\u003e5 Auto-Tuning of Fractional Order Controllers with Iso-Damping 73\u003c\/b\u003e\u003c\/p\u003e \u003cp\u003e5.1 Introduction 73\u003c\/p\u003e \u003cp\u003e5.2 FOPI and FO[PI] Controllers Design Formulae 75\u003c\/p\u003e 5.3 Measurements for Auto-Tuning 80  \u003cp\u003e5.4 Simulation Illustration 80\u003c\/p\u003e 5.5 Chapter Summary 87  \u003cp\u003e\u003cb\u003ePART III FRACTIONAL ORDER POSITION SERVO\u003c\/b\u003e\u003c\/p\u003e \u003cp\u003e\u003cb\u003e6 Fractional Order PD Controller Tuning for Position Systems 91\u003c\/b\u003e\u003c\/p\u003e \u003cp\u003e6.1 Introduction 91\u003c\/p\u003e \u003cp\u003e6.2 Fractional Order PD Controller Design for Position Servos 92\u003c\/p\u003e 6.3 Design Procedures 94  \u003cp\u003e6.4 Simulation Example 95\u003c\/p\u003e 6.5 Experiments 99  \u003cp\u003e6.6 Chapter Summary 101\u003c\/p\u003e \u003cp\u003e\u003cb\u003e7 Fractional Order [PD] Controller Synthesis for Position Servo Systems 105\u003c\/b\u003e\u003c\/p\u003e \u003cp\u003e7.1 Introduction 105\u003c\/p\u003e \u003cp\u003e7.2 Position Control Plants and Design Specifications 106\u003c\/p\u003e \u003cp\u003e7.3 Fractional Order [PD] Controller Design 106\u003c\/p\u003e 7.4 Parameter Design Examples and Bode Plot Validations 108  \u003cp\u003e7.5 Implementation of Two Fractional Order Operators 110\u003c\/p\u003e 7.6 Simulation 111  \u003cp\u003e7.7 Experiment 120\u003c\/p\u003e 7.8 Chapter Summary 122  \u003cp\u003e\u003cb\u003e8 Time-Constant Robust Analysis and Design of Fractional Order [PD] Controller 123\u003c\/b\u003e\u003c\/p\u003e \u003cp\u003e8.1 Introduction 123\u003c\/p\u003e \u003cp\u003e8.2 Problem Statement 124\u003c\/p\u003e \u003cp\u003e8.3 FO[PD] Tuning Specifications and Rules 125\u003c\/p\u003e 8.4 The Solution Existence Range and An Online Computation Method 127  \u003cp\u003e8.5 Experiment 135\u003c\/p\u003e \u003cp\u003e8.6 Chapter Summary 136\u003c\/p\u003e \u003cp\u003e\u003cb\u003e9 Experimental Study of Fractional OrderPDController Synthesis for Fractional Order Position Servo Systems 139\u003c\/b\u003e\u003c\/p\u003e \u003cp\u003e9.1 Introduction 139\u003c\/p\u003e \u003cp\u003e9.2 Fractional Order Systems and Fractional Order Controller Considered 140\u003c\/p\u003e \u003cp\u003e9.3 FOPD Controller Design Procedure for the Fractional Order Position Servo Systems 141\u003c\/p\u003e 9.4 Simulation Illustration 144  \u003cp\u003e9.5 Experimental Study 148\u003c\/p\u003e 9.6 Chapter Summary 153  \u003cp\u003e\u003cb\u003e10 Fractional Order [PD] Controller Design and Comparison for Fractional Order Position Servo Systems 155\u003c\/b\u003e\u003c\/p\u003e \u003cp\u003e10.1 Introduction 155\u003c\/p\u003e \u003cp\u003e10.2 Fractional Order Position Servo Systems and Fractional Order Controllers 156\u003c\/p\u003e \u003cp\u003e10.3 Fractional Order [PD] Controller Design 156\u003c\/p\u003e 10.4 Integer Order PID Controller and Fractional Order PD Controller Designs 159  \u003cp\u003e10.5 Simulation Comparisons 160\u003c\/p\u003e \u003cp\u003e10.6 Chapter Summary 162\u003c\/p\u003e \u003cp\u003e\u003cb\u003ePART IV STABILITY AND FEASIBILITY FOR FOPID DESIGN\u003c\/b\u003e\u003c\/p\u003e \u003cp\u003e\u003cb\u003e11 Stability and Design Feasibility of Robust PID Controllers for FOPTD Systems 165\u003c\/b\u003e\u003c\/p\u003e \u003cp\u003e11.1 Introduction 165\u003c\/p\u003e 11.2 Stability Region and Flat Phase Tuning Rule for the Robust PID Controller Design 168  \u003cp\u003e11.3 PID Controller Design with Pre-Specifications on Ám and !c 171\u003c\/p\u003e 11.4 Simulation Illustration 180  \u003cp\u003e11.5 Chapter Summary 185\u003c\/p\u003e \u003cp\u003e\u003cb\u003e12 Stability and Design Feasibility of Robust FOPI Controllers for FOPTD Systems 187\u003c\/b\u003e\u003c\/p\u003e \u003cp\u003e12.1 Introduction 187\u003c\/p\u003e \u003cp\u003e12.2 Stabilizing and Robust FOPI Controller Design for FOPTD Systems 188\u003c\/p\u003e 12.3 Design Procedures Summary with An Illustrative Example 194  \u003cp\u003e12.4 Complete Information Collection for Achievable Region of \u003ci\u003ew\u003csub\u003ec\u003c\/sub\u003e\u003c\/i\u003e and \u003ci\u003eΦ\u003csub\u003em\u003c\/sub\u003e\u003c\/i\u003e 197\u003c\/p\u003e \u003cp\u003e12.5 Simulation Illustration 201\u003c\/p\u003e \u003cp\u003e12.6 Chapter Summary 207\u003c\/p\u003e \u003cp\u003e\u003cb\u003ePART V FRACTIONAL ORDER DISTURBANCE COMPENSATORS\u003c\/b\u003e\u003c\/p\u003e \u003cp\u003e\u003cb\u003e13 Fractional Order Disturbance Observer 211\u003c\/b\u003e\u003c\/p\u003e \u003cp\u003e13.1 Introduction 211\u003c\/p\u003e \u003cp\u003e13.2 Disturbance Observer (DOB) 212\u003c\/p\u003e \u003cp\u003e13.3 Actual Design Parameters In DOB and Their Effects 213\u003c\/p\u003e \u003cp\u003e13.4 Loss of The Phase Margin With DOB 215\u003c\/p\u003e \u003cp\u003e13.5 Solution One: Rule-Based Switched Low Pass Filtering With Varying Relative Degree 216\u003c\/p\u003e \u003cp\u003e13.6 The Proposed Solution: Guaranteed Phase Margin Method Using Fractional Order Low Pass Filtering 216\u003c\/p\u003e \u003cp\u003e13.7 Implementation Issues: Stable Minimum-Phase Frequency Domain Fitting 218\u003c\/p\u003e \u003cp\u003e13.8 Chapter Summary 222\u003c\/p\u003e \u003cp\u003e\u003cb\u003e14 Fractional Order Adaptive Feed-forward Cancellation 223\u003c\/b\u003e\u003c\/p\u003e \u003cp\u003e14.1 Introduction 223\u003c\/p\u003e \u003cp\u003e14.2 Fractional Order Adaptive Feed-forward Cancellation 225\u003c\/p\u003e \u003cp\u003e14.3 Equivalence Between Fractional Order Internal Model Principle and Fractional Order Adaptive Feed-Forward Cancellation 229\u003c\/p\u003e 14.4 Frequency-domain analysis of the FOAFC performance for the periodic disturbance 231  \u003cp\u003e14.5 Simulation Illustration 233\u003c\/p\u003e \u003cp\u003e14.6 Experiment Validation 237\u003c\/p\u003e 14.7 Chapter Summary 241  \u003cp\u003e\u003cb\u003e15 Fractional Order Robust Control for Cogging Effect 243\u003c\/b\u003e\u003c\/p\u003e \u003cp\u003e15.1 Introduction 243\u003c\/p\u003e \u003cp\u003e15.2 Fractional Order Robust Control of Cogging Effect Compensation 244\u003c\/p\u003e 15.3 Simulation Illustration 252  \u003cp\u003e15.4 Experiments on A Lab Testbed - Dynamometer 258\u003c\/p\u003e 15.5 Chapter Summary 264  \u003cp\u003e\u003cb\u003e16 Fractional Order Periodic Adaptive Learning Compensation 275\u003c\/b\u003e\u003c\/p\u003e \u003cp\u003e16.1 Introduction 275\u003c\/p\u003e \u003cp\u003e16.2 Fractional Order Periodic Adaptive learning Compensation for the State-dependent Periodic Disturbance 276\u003c\/p\u003e 16.3 Simulation Illustrations 282  \u003cp\u003e16.4 Experimental Validation 284\u003c\/p\u003e 16.5 Chapter Summary 288  \u003cp\u003e\u003cb\u003ePART VI EFFECTS OF FRACTIONAL ORDER CONTROLS ON NONLINEARITIES\u003c\/b\u003e\u003c\/p\u003e \u003cp\u003e\u003cb\u003e17 Fractional Order PID Control of A DC-Motor with Elastic Shaft 293\u003c\/b\u003e\u003c\/p\u003e \u003cp\u003e17.1 Introduction 293\u003c\/p\u003e \u003cp\u003e17.2 The Benchmark Position Servo System 294\u003c\/p\u003e \u003cp\u003e17.3 A Modified Approximate Realization Method 295\u003c\/p\u003e \u003cp\u003e17.4 Comparative Simulations 297\u003c\/p\u003e 17.5 Chapter Summary 305  \u003cp\u003e\u003cb\u003e18 Fractional Order Ultra Low-Speed Position Servo 313\u003c\/b\u003e\u003c\/p\u003e \u003cp\u003e18.1 Introduction 313\u003c\/p\u003e \u003cp\u003e18.2 Ultra Low-Speed Position Tracking using Designed FOPD and Optimized IOPI 314\u003c\/p\u003e 18.3 Static and Dynamic Models of Friction and DescribingFunctions for Friction Models 316  \u003cp\u003e18.4 Simulation Analysis with IOPI and FOPD Controllers Using Describing Function 321\u003c\/p\u003e \u003cp\u003e18.5 Extended Experimental Demonstration 324\u003c\/p\u003e \u003cp\u003e18.6 Chapter Summary 325\u003c\/p\u003e \u003cp\u003e\u003cb\u003e19 Optimized Fractional Order Conditional Integrator 329\u003c\/b\u003e\u003c\/p\u003e \u003cp\u003e19.1 Introduction 329\u003c\/p\u003e \u003cp\u003e19.2 Clegg Conditional Integrator 330\u003c\/p\u003e \u003cp\u003e19.3 Intelligent Conditional Integrator 331\u003c\/p\u003e \u003cp\u003e19.4 The Optimized Fractional Order Conditional Integrator 332\u003c\/p\u003e 19.5 Simulation Validation 340  \u003cp\u003e19.6 Chapter Summary 342\u003c\/p\u003e \u003cp\u003e\u003cb\u003ePART VII FRACTIONAL ORDER CONTROL APPLICATIONS\u003c\/b\u003e\u003c\/p\u003e \u003cp\u003e\u003cb\u003e20 Lateral Directional Fractional Order Control of A Small Fixed-Wing UAV 345\u003c\/b\u003e\u003c\/p\u003e \u003cp\u003e20.1 Introduction 345\u003c\/p\u003e \u003cp\u003e20.2 Flight Control System of Small Fixed-Wing UAV 346\u003c\/p\u003e 20.3 Integer\/Fractional Order Controller Designs 351  \u003cp\u003e20.4 Modified Ziegler-Nichols PI Controller Design 352\u003c\/p\u003e \u003cp\u003e20.5 Fractional Order (PI)¸ Controller Design 353\u003c\/p\u003e \u003cp\u003e20.6 Fractional Order PI Controller Design 355\u003c\/p\u003e \u003cp\u003e20.7 Integer Order PID Controller Design 356\u003c\/p\u003e \u003cp\u003e20.8 Simulation Illustration 357\u003c\/p\u003e 20.9 Flight Experiments 363  \u003cp\u003e20.10 Chapter Summary 367\u003c\/p\u003e \u003cp\u003e\u003cb\u003e21 Fractional Order PD Controller Synthesis and Implementation for HDD Servo System 369\u003c\/b\u003e\u003c\/p\u003e \u003cp\u003e21.1 Introduction 369\u003c\/p\u003e \u003cp\u003e21.2 Fractional Order Controller Design with “Flat Phase” 370\u003c\/p\u003e \u003cp\u003e21.3 Implementation of the Fractional Order Controller 372\u003c\/p\u003e 21.4 Readjustment for the Designed FOPD Controller 377  \u003cp\u003e21.5 Experiment 380\u003c\/p\u003e 21.6 Chapter Summary 383  \u003cp\u003eReferences 385\u003c\/p\u003e \u003cp\u003eIndex 403\u003c\/p\u003e  \u003cp\u003e\u003cstrong\u003eYing Luo\u003c\/strong\u003e, South China University of Technology, China. Currently Assistant Professor in the Department of Automatic Control and Engineering, South China University of Technology, Dr Luo joined the? BS-Ph.D program? in 2004. He went to Utah State University, Logan, UT, USA, as a visiting scholar\/exchange PhD?from September 2007 to February 2009 and received the PhD degree in Automation Science and Engineering from South China University of Technology, Guangzhou, China, in July 2009. Dr Luo has been based at Utah State University, Logan, UT, USA, as a postdoctoral fellow from September 2009. He has worked on several patents and has published research in some key journals. \u003c\/p\u003e\u003cp\u003e\u003cstrong\u003eYangQuan Chen\u003c\/strong\u003e, Utah State University, USA. Dr Chen is Associate Professor in the Department of Electrical \u0026amp; Computer Engineering as well as Director at the Center for Self-Organizing \u0026amp; Intelligent Systems (CSOIS) of Utah State University, Logan. Prior to this he has held positions at Seagate Tech. Int., Singapore, National University of Singapore and Nanyang Technological University. He is the owner of 14 patents and Senior Member of the IEEE.   \u003c\/p\u003e\u003cp\u003e\u003ci\u003eFractional Order Motion Controls\u003c\/i\u003e provides a collection of practical approaches for servo control and disturbance compensation of linear and nonlinear motion systems using emerging fractional order control design methods based on fractional calculus. \u003c\/p\u003e \u003cp\u003eCovering fractional order control systems theory and its applications on motion controls by simulation and experiments, this book explains how fractional order controller design compares favourably with traditional integer order counterparts for typical motion control applications. \u003c\/p\u003e \u003cp\u003eThe book also covers key topics including: stability theory in fractional order controllers design; fractional order disturbance cancellation and periodic adaptive learning control studies for periodic external disturbances; optimization and analysis approaches for nonlinear system controls and design schemes with mechanical nonlinearities such as backlash and friction. \u003c\/p\u003e \u003cp\u003eSimulation illustrations and\/or experimental validations are included for each of the proposed control schemes to enable readers to develop a clear understanding of the approaches covered, and how to apply them in real-world scenarios.\u003c\/p\u003e \u003cp\u003e Key features:\u003c\/p\u003e \u003cul\u003e \u003cli\u003eProposes feasible design schemes and synthesis of fractional order controllers for motion systems with stability analysis.\u003c\/li\u003e \u003cli\u003eIncludes extensive experimental results from lab bench prototype test level to industrial servo product control level .\u003c\/li\u003e \u003cli\u003ePresents material suitable for real-world applications, including hard-disk-drive track-following servo and unmanned-aerial-vehicle flight control.\u003c\/li\u003e \u003c\/ul\u003e","brand":"Wiley","offers":[{"title":"Default Title","offer_id":47989240692965,"sku":"NP9781119944553","price":149.95,"currency_code":"USD","in_stock":false}],"thumbnail_url":"\/\/cdn.shopify.com\/s\/files\/1\/1842\/7735\/files\/9781119944553.jpg?v=1761783341","url":"https:\/\/k12savings.com\/es\/products\/fractional-order-motion-controls-isbn-9781119944553","provider":"K12savings","version":"1.0","type":"link"}