FOPID:

Path: Common/Control

% Fractional order PID controller.
 Implements a fractional order PID. The order can be from 0 to 1. 1 is
 a normal PID.

 d.L gives the minimum and maximum terms to use. Below d.L(1), u will be
 zero.

 Type FOPID to compare an order 1 PID with an order 0.5 PID and a 
 traditional PID.
--------------------------------------------------------------------------
   Form:
   d = FOPID
   [u,d] = FOPID(e,d)
--------------------------------------------------------------------------

   ------
   Inputs
   ------
   e (1,1) Input
   d (.)   Data structure
           .lambda (1,1) The integral order (0 to 1)
           .mu     (1,1) The derivative order (0 to 1)
           .L      (1,2) Memory length [min max]
           .h      (1,1) Time step
           ,kP     (1,1) Proportional gain
           ,kI     (1,1) Integral gain
           ,kD     (1,1) Derivative gain
           .e      (1,:) Memory of e

   -------
   Outputs
   -------
   u (1,1) Output
   d (.)   Data structure (see above) with d.e updated

--------------------------------------------------------------------------
   Reference:  Junhe Wan, Bo He, Dianrui Wang, Tianhong Yan and Yue Shen,
               "Fractional-Order PID Motion Control for AUV Using 
               Cloud-Model-Based Quantum Genetic Algorithm," IEEE Access,
               https://ieeexplore.ieee.org/document/8817916/
               references#references
--------------------------------------------------------------------------

Children:

Common: CommonData/SwooshWatermark
Common: General/CellToMat
Common: General/MatToCell
Common: General/Watermark
Common: Graphics/NewFig
Common: Graphics/Plot2D
Common: Graphics/PltStyle
Common: Graphics/TimeLabl
Math: Integration/FracDI
Math: Integration/RK4

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