Design of fractional order PDD controller for robotic arm using partial cancellation of non minimum phase zero
In this paper, a two Degrees of freedom manipulator in the form of Quanser QUBE-Servo 2 system is used. It is an unstable system having non-minimum phase with right half s-plane pole and zero. The conventional controllers did not achieve the loop robustness for these types of systems. In this work,...
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| Main Authors: | , , |
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| Format: | Article |
| Language: | English |
| Published: |
Elsevier
2025-01-01
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| Series: | Alexandria Engineering Journal |
| Subjects: | |
| Online Access: | http://www.sciencedirect.com/science/article/pii/S1110016824011542 |
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