Fractional Order PID Control of A DC-Motor with Elastic Shaft: A Case Study

1
Introduction
1
2
Introduction
2
3
Introduction
3
4
Outline

1. Introduction
2. Low Speed Position Tracking using IOPI and FOPD
3. Static / Dynamic Models of Friction and
   Describing Functions for Friction Models
4. Bode Plots Comparison of IOPI and FOPD using DF
5. Experiment
6. Conclusion

4
5
Low Speed Position Tracking using IOPI
and FOPD
5
6
Low Speed Position Tracking using IOPI
and FOPD
6