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This paper addresses complex, variable-order fractional derivatives, enlarging the definitions for the real case. Implementations combining discretised Crone approximations using fuzzy logic and interpolation are also addressed.
H 2 and H ∞ controllers minimise the H 2 or the H ∞ norm of a suitable loop transfer function involving the plant to control and some weighing transfer functions chosen to fulfil performance specifications. In this paper this type of controllers is developed for the case when the plant and / or the weighing transfer functions are of fractional… (More)
This paper proposes an approach to extend the mixed logical dynamical modelling framework for synthesizing robust optimal control actions for constrained piecewise affine systems subject to bounded additive input disturbances. Rather than using closed-loop dynamic programming arguments, robust-ness is achieved here with an open-loop optimization strategy,… (More)
This paper focuses on the optimization of the electric energy production by photovoltaic cells through the development of an intelligent sun-tracking system. The developed tracking system is innovative in relation to the usual sun tracking systems available in the market. In fact, the developed solution has many advantages in relation to similar existing… (More)
This paper assesses relative merits and drawbacks of different digital implementations of non-integer order controllers. Twenty-eight formulas are considered. Their frequency behaviours, together with those of discretised CRONE controllers, are compared to the ideal ones. All those formulas are used for implementing controllers found in the literature for a… (More)
A novel approach to the control of a single joint-single flexible link robot is proposed and experimentally evaluated. The control is completely signal based, and relies on joint trajectory pre-planning plus collocated vibration control of the flexible link through piezoelectric actuation. Trajectory pre-planning is a well known strategy for avoiding link… (More)