Page 283 - Mathematical Techniques of Fractional Order Systems

20 20
IOSMCPD IOSMCPD
FOFSMCPD FOFSMCPD
10 10
Torque (N-m) 0 Torque (N-m) 0

–10 –10

–20 –20
0 1 2 3 4 0 1 2 3 4
Time (s) Time (s)
(A) (B)
FIGURE 9.18 Corresponding controller output curve (A) link-1; (B) link-2.

0.025 0.02
IOSMCPD IOSMCPD
FOFSMCPD 0.015 FOFSMCPD
0.02
0.01
0.015
Error (radian) 0.01 Error (radian) 0.005 0

0.005
–0.005
0 –0.01

–0.005 –0.015
0 1 2 3 4 0 1 2 3 4
Time (s) Time (s)
(A) (B)
FIGURE 9.19 Corresponding error curve (A) link-1; (B) link-2.

1.5
Reference
IOSMCPD
1
FOFSMCPD
Y–position (radian) –0.5 0 0.42
0.44
0.5
0.4
0.38
0.36
0.34
0.32
–1 1 1.02

–1.5
0.5 0.6 0.7 0.8 0.9 1 1.1 1.2
X-position (radian)
FIGURE 9.20 Corresponding X Y curve.