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.
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Form:
d = FOPID
[u,d] = FOPID(e,d)
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Inputs
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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
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Outputs
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u (1,1) Output
d (.) Data structure (see above) with d.e updated
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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
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Common: Graphics/Plot2D Common: Graphics/TimeLabl Math: Integration/FracDI Math: Integration/RK4
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