Fractional Order Differentiation and Robust Control Design: CRONE, H-infinity and Motion Control [Hardcover]

This book provides an overview of the research done and results obtained during the last ten years in the fields of fractional systems control, fractional PI and PID control, robust and CRONE control, and fractional path planning and path tracking. Coverage features theoretical results, applications and exercises.

Chapter 1: Fractional order models.- Chapter 2: Fractional Order PID and First Generation CRONE Control System Design.- Chapter 3: Second and Third generation CRONE control system design.- Chapter 4: H control of commensurate fractional order models.- Chapter 5: Fractional approaches in path tracking design (or motion control): prefiltering, shaping, and flatness.

This monograph collates the past decades work on fractional models and fractional systems in the fields of analysis, robust control and path tracking. Themes such as PID control, robust path tracking design and motion control methodologies involving fractional differentiation are amongst those explored. It juxtaposes recent theoretical results at the forefront in the field, and applications that can be used as exercises that will help the reader to assimilate the proposed methodologies.

The first part of the book deals with fractional derivative and fractional model definitions, as well as recent results for stability analysis, fractional model physical interpretation, controllability, and H-infinity norm computation. It also presents a critical point of view on model pseudo-state and real state, tackling the problem of fractional model initialization.

Readers will find coverage of PID, Fractional PID and robust control in the second part of the book, which rounds off with an extelÑ