Universal Design Equations for Fractional Order PID Control of Plants with Time Delay

Some all-purpose design equations are derived for designing fractional order controllers for integer order plants with time delay. The results combine many design techniques appearing in the literature. In addition to plotting the global stability boundaries, they can be used to achieve desired gain and phase margins with a flat phase response near the gain cross over frequency. So, robustness can also be guaranteed. Further, satisfactory output disturbance and high frequency noise rejections can be realizable. An example is treated to make connections with the already existing results in the literature, which proves the usability of the obtained design equations.

Gerçek Zaman Gecikmeli Rasyonel Transfer Fonksiyonuna Sahip Sistemlerin Kontrolü için Kesirli Mertebeden Oransal-Entegral-Türevsel (PID) Bir Kontrol Edicinin Genel Tasarım Denklemleri

Herhangi bir gerçek zaman gecikmeli rasyonel transfer fonksiyonuna sahip sistemin kontrolü için kesirli mertebeden oransal-entegral-türevsel (PID) kontrol edicinin tasarımı için çok amaçlıtasarım denklemleri türetilmiştir. Sonuçlar literatürde mevcut birçok tasarım metodunu birleştirmektedir. Özellikle genel kararlılık sınırlarının çiziminde kullanılmakta, istenilen kazanç ve faz aralıklarının kazanç-kesim frekansında yatay bir faz karakteritiği ile birlikte tasarımını sağlamaktadır. Dolayısıyla dayanıklılık da garanti edilmektedir. Ayrıca, tatminkar çıkış bozulması karakteristiği ve yüksek frekans gürültü engellenmesi gerçekleştirilemesine imkan sağlamaktadır. Literatürde mevcut metodlarla ilişkileri göstermek için bir örnek ele alınmıştır, ki böylece elde edilen tasarım denklemlerinin faydası gösterilmiştir.

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