Progress in Fractional Differentiation & Applications

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This paper presents an example in which the fractional order calculus (FOC) provides better results than the traditional integer order system. The dynamical system considered here is under-actuated and has 2 degrees of freedom along with 1 control input which is 2-D Gantry crane system. Control of this crane system is essential, as its failure causes accident that can harm people nearby. This paper designs IOPID controller (integer order PID) and FOPID controller (fractional order PID) for the considered system and their performances are compared to validate that FOPID is better controller than IOPID.

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