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Robust Fractional-Order PI Controller Implemented on a Laboratory Hydraulic Canal |
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| Authors: | V Feliu-Batlle R Rivas-Perez L Sanchez-Rodriguez M A Ruiz-Torija |
| Affiliation: | 1Escuela Técnica Superior de Ingenieros Industriales, Univ. de Castilla-La Mancha, Campus Universitario s/n, Ciudad Real, Spain, C.P. 13005. E-mail: vicente.feliu@uclm.es 2Dept. of Automatica and Computer Science, Havana Polytechnic Univ., 114 No. 11901, CUJAE, Marianao, C. Habana, Cuba, C.P. 19390. E-mail: raul_rivas_perez@yahoo.es 3Escuela Universitaria de Ingenieros Técnicos Industriales, Univ. de Castilla-La Mancha, Campus Tecnológico de Antigua Fábrica de Armas s/n, Toledo, Spain, C.P. 45071. E-mail: luis.sanchez@uclm.es 4Escuela Técnica Superior de Ingenieros Industriales, Univ. de Castilla-La Mancha, Campus Universitario s/n, Ciudad Real, Spain, C.P. 13005. |
| Abstract: | This paper deals with the development of a new robust fractional-order PI controller for hydraulic canals whose parameters can vary in a wide range. Robustness to gain changes has particularly been increased. A method to design these controllers through the use of frequency specifications is proposed. Analysis of the frequency response of the closed-loop canal shows that the general robustness was also enhanced. Two of these fractional controllers have been experimentally implemented in a laboratory hydraulic canal characterized by time-varying dynamical parameters. A comparison between the real-time responses of the fractional-order control system and those of the standard PI demonstrates the effectiveness of the proposed fractional-order control strategy in terms of performance and robustness. |
| Keywords: | Canals Laboratories Parameters Mathematical models Hydraulics |