| Περίληψη: | The subject of this M.Sc. Thesis is the design of integrated fractional-order PID (FO-PID) controllers. A novel general topology for the implementation of integrated PIλDμ controllers, is introduced. The employed active elements are Operational Transconductance Amplifiers (OTAs) offering the benefits of resistorless realization, electronic tuning of the controllers’ characteristics, low-power consumption, and capability for implementation in monolithic form.
Two design examples are provided in order to demonstrate the flexibility of the design procedure. Specifically, a fractional-order IλDμ controller for a DC motor control application is presented and a re-configurable fractional-order PIλ controller, suitable for brake and throttle control in autonomous vehicle, is introduced. The implementation of the controllers’ systems has been performed using MOS transistors biased in the subthreshold region which allows operation with low-voltage and low-power dissipation.
The functional simulation of the proposed circuit topologies has been performed through the Analog Design Environment of Cadence software. MOS transistor models provided by the AMS 0.35μm CMOS process, confirm the correct operation of the introduced controllers within the given specifications.
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