Examples of robust controller design

Abstract

In this paper two modern controllers are presented. These controllers should eliminate disturbance effect, handle process variations and process uncertainties. First controller that is considered is conventional Proportional - Integral (PI) controller and second one is Fractional PI (FOPI) controller. After testing both controllers on a series of simulations, performance of both control algorithms were applied on a real 3D crane system. [Projects of the Serbian Ministry of Education, Science and Technological Development, Grant no. TR32018 and Grant no. TR33013]

Keywords

• pi control
• fopi control
• particle swarm optimization (pso)
• symmetrical optimum method (som)
• robust control