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- W3169573337 abstract "The last chapter discussed the modeling of different type of robotic systems. The overall system output performance depends on system model accuracy, and the problem worsens if an inaccurate system model is chosen [1, 2]. Once the model of a system is selected, an efficient controller is needed to control the output response of the system [3, 4, 5]. Designing controller for a given system is another major issue, and FO controllers have been demonstrated to be highly effective even in this field. Podlubny introduced the term FOPID, and designed the controller with a FO integrator and a FO differentiator for FO systems [6, 7]. FOPID controllers utilize five tuning parameters compared to Integer Order Controller which have only three tuning parameters, and hence are able to provide more flexibility to implement the controller precisely and more accurately to fit the needs for a system [8, 9]. In this chapter, we discuss how to design an Integer and Fractional PID controllers for various robotic systems. The response of such systems is also compared to check the effectiveness of the designed controller." @default.
- W3169573337 created "2021-06-22" @default.
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- W3169573337 date "2020-10-16" @default.
- W3169573337 modified "2023-10-16" @default.
- W3169573337 title "FOPID Controller Design for IO Model of Robotic Systems" @default.
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- W3169573337 doi "https://doi.org/10.1007/978-3-030-58247-0_3" @default.
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