The comparison respond of braking torque control between PID and SMC controller for electric powered wheelchair descending on slope condition

A New Design Method for PI‐PD Control of Unstable Fractional‐Order System with Time Delay

“…Simplify the inner-loop transfer function (13) and split the numerator and denominator into real parts and imaginary parts, respectively:…”

“…e integral-order PID (IOPID) controller has limitations in control integration, instability, and delay process, and it often leads to large step response, large overshoot, and large impact, especially for unstable complex systems with time delay, and it is di cult to obtain good closed-loop performance [8][9][10][11][12]. Researchers have proposed a series of controller design schemes, including integerorder PID (IOPID) controller, sliding mode controller (SMC) to fractional-order PID (FOPID) controller, fractional-order sliding mode controller and other complex controllers, and so on [12][13][14][15][16][17][18][19]. e computational cost of these controllers increases geometrically with the change of controller structure complexity, but the performance improvement is not satisfactory.…”