title: Incorporation of fractional-order dynamics into an existing PI/PID DC motor control loop.
abstract: The problem of changing the dynamics of an existing DC motor control system without the need of making internal changes is considered in the paper. In particular, this paper presents a method for incorporating fractional-order dynamics in an existing DC motor control system with internal PI or PID controller, through the addition of an external controller into the system and by tapping its original input and output signals. Experimental results based on the control of a real test plant from MATLAB/Simulink environment are presented, indicating the validity of the proposed approach.
authors.affiliation: Department of Computer Control, Tallinn University of Technology, Ehitajate tee 5, 19086 Tallinn, Estonia. Electronic address: aleksei.tepljakov@ttu.ee.
authors.forename: Aleksei
authors.initials: A
authors.lastname: Tepljakov
authors.affiliation: Existing Installation Department, Jardine Schindler Elevator Corporation, 8/F Pacific Star Bldg., Sen. Gil Puyat Ave. cor. Makati Ave., Makati City 1209, Philippines. Electronic address: emm.gonzalez@delasalle.ph.
authors.forename: Emmanuel A
authors.initials: EA
authors.lastname: Gonzalez
authors.affiliation: Department of Computer Control, Tallinn University of Technology, Ehitajate tee 5, 19086 Tallinn, Estonia. Electronic address: eduard.petlenkov@ttu.ee.
authors.forename: Eduard
authors.initials: E
authors.lastname: Petlenkov
authors.affiliation: Institute of Cybernetics, Tallinn University of Technology, Akadeemiatee 21, 12618 Tallinn, Estonia. Electronic address: jbelikov@cc.ioc.ee.
authors.forename: Juri
authors.initials: J
authors.lastname: Belikov
authors.affiliation: Systems Engineering and Automation Department, University CarlosIII of Madrid, 28911 Leganés Madrid, Spain. Electronic address: cmonje@ing.uc3m.es.
authors.forename: Concepción A
authors.initials: CA
authors.lastname: Monje
authors.affiliation: Institute of Control and Informatization of Production Processes, Faculty BERG, Technical University of Košice, B. Nemcovej 3, 042 00 Košice, Slovakia. Electronic address: ivo.petras@tuke.sk.
authors.forename: Ivo
authors.initials: I
authors.lastname: Petráš
keywords: Controller tuning; DC motor; Fractional PID control; Fractional calculus; Process control; SISO control; Servo system