Fractional-Order Control of a Micrometric Linear Axis

Abstract EN

This paper discusses the application of a particular fractional-order control scheme, the PDD1/2, to the position control of a micrometric linear axis.

The PDD1/2 scheme derives from the classical PD scheme with the introduction of the half-derivative term.

The PD and PDD1/2 schemes are compared by adopting a nondimensional approach for the sake of generality.

The linear model of the closed-loop system is discussed by analysing the pole location in the σ-plane.

Then, different combinations of the derivative and half-derivative terms, characterized by the same settling energy in the step response, are experimentally compared in the real mechatronic application, with nonnegligible friction effects and a position set point with trapezoidal speed law.

The experimental results are coherent with the nonlinear model of the controlled system and confirm that the introduction of the half-derivative term is an interesting option for reducing the tracking error in the transient state.