Adaptive gain-order fractional control for network-based applications

Abstract

This paper deals with the application of adaptive fractional order control to networked control systems (NCSs) to compensate the effects of time-varying network-induced delays. In essence, it adapts both the gains and the orders of a local PI α D μ controller in accordance with the current network condition in order to avoid a decreased control performance. A frequency domain framework is provided to analyze the system stability on the basis of the switching systems theory. The velocity control of a servomotor through the Internet is given to show the effectiveness of the proposed adaptive controller, including a comparison with non- and gain scheduled controllers. © 2014 Versita Warsaw and Springer-Verlag Wien. MSC 2010: 93C40, 93D99.