A copy of this work was available on the public web and has been preserved in the Wayback Machine. The capture dates from 2021; you can also visit the original URL.
The file type is application/pdf.
Fractional order PID Design using the Taguchi method
2015
IAES International Journal of Robotics and Automation
Preserved Fulltext
<p>This paper presents a gain-tuning scheme for Fractional order PID control systems using the Taguchi method. A prismatic series elastic actuator is selected as an experimental set-up. An optimal controller gains has been obtained through a series of experiments suggested by the Taguchi method. Four stages of tuning are performed in order to accurately tune the controller gains. It is shown that when performance of the proposed controller is compared with two additional controllers: a
doi:10.11591/ijra.v4i3.pp176-185
fatcat:lyfwo5bg4fc33py63fcqojmekm