Abstract
Conference Title: 2018 15th International Multi-Conference on Systems, Signals & Devices (SSD) Conference Start Date: 2018, March 19 Conference End Date: 2018, March 22 Conference Location: Yassmine Hammamet, Tunisia Quite recently, fractional calculus is extensively used in control engineering area. Several approaches of fractional controllers tuning has been considered. In this paper, a multi-input multi-output (MIMO) quantitative feedback theory (QFT) method is combined with a fractional order PDμcontroller and a fractional prefilter to control multivariable systems. Each obtained sub-systems from the MIMO QFT procedure is controlled independently. A new tuning method of fractional order controller is developed in order to ensure stability and robustness. After the controller tuning, a fractional order prefilter is designed and optimized to satisfy the desired performances. The proposed technique effectiveness will be evaluated and tested via a real robot model.