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Fractional-order-controller / FOPID-tuner

Fractional order proportional integral derivative controller tuner
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mu=2; Is FOPI controller better than IOPID in Simulink linear model? #8

Open cnpcshangbo opened 5 years ago

cnpcshangbo commented 5 years ago

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cnpcshangbo commented 5 years ago

set mu near one.

cnpcshangbo commented 5 years ago

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cnpcshangbo commented 5 years ago

kp=0 setting kp>=1

cnpcshangbo commented 5 years ago

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cnpcshangbo commented 5 years ago

wc=2.51 doesn't work.

cnpcshangbo commented 5 years ago

image bug in ceq is found. ceq is working now. f613c25d11348f28d18c5496f5f73809b112288b

cnpcshangbo commented 5 years ago

image We should use linear model to test if this parameter is better than the FOPD in ACC. % k_p=x(1); k_i=x(2); k_d=x(3); lambda=x(4); mu=x(5); 2.6000 0 1.6310 0 1.5000 x0 = [2.6992, 0, 2.69920.6192, 0, 0.9694]; % start point away from the minimum A=[];b=[];Aeq=[];beq=[]; lb=[2.6,0,0,0,0.5]; ub=[5,5,5,2,1.5]; FOPI: 1.631s^{1.5}+2.6

IOPID:

ioc_tf 1.48*s^{1}+1.95+0.369/s

cnpcshangbo commented 5 years ago

image image The FOPID tuner works.