FLOreS - Fractional order loop shaping MATLAB toolbox
Lennart van Duist (Student TU Delft)
Gijs van der Gugten (Student TU Delft)
Daan Toten (Student TU Delft)
Niranjan Saikumar (TU Delft - Mechatronic Systems Design)
S.H. Hassan HosseinNia (TU Delft - Mechatronic Systems Design)
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Abstract
A novel toolbox named FLOreS is presented for intuitive design of fractional order controllers (FOC) using industry standard loop shaping technique. This will allow control engineers to use frequency response data (FRD) of the plant to design FOCs by shaping the open loop to meet the necessary specifications of stability, robustness, tracking, precision and bandwidth. FLOreS provides a graphical approach using closed-loop sensitivity functions for overall insight into system performance. The main advantage over existing optimization toolboxes for FOC is that the engineer can use prior knowledge and expertise of plant during design of FOC. Different approximation methods for fractional order filters are also included for greater freedom of final implementation. This combined with the included example plants enables additionally to be used as an educational tool. FLOreS has been used for design and implementation of both integer and fractional order controllers on a precision stage to prove industry readiness.
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