TY  - CONF
AU  - Mandić, Petar
AU  - Šekara, Tomislav
AU  - Lazarević, Mihailo
PY  - 2023
UR  - https://machinery.mas.bg.ac.rs/handle/123456789/7237
AB  - This paper deals with a topic of robot following a trajectory in three-dimensional space with a prescribed velocity law. Considering the nonlinear nature of robot manipulators, and high demands regarding tracking performances, this task is very challenging, but also very popular in control community because of its importance in industrial applications. To tackle successfully this problem, we proposed a resonant controller, which outperforms classical control schemes usually employed in this situation. In this particular case, robot manipulator needs to follow an ellipse trajectory with constant speed along the curve. First, mathematical model of three degrees of freedom robot arm is derived with included actuator dynamics. Then, numerical solution of inverse kinematics problem needs to be calculated in order to obtain desired trajectory in joint space. Third, analytical procedure for designing resonant controller is given, with parameters of the controller chosen in order to achieve a good performance/robustness trade-off, which is a key element in modern control design. Finally, proposed control scheme is tested and results of robot simulation are given in the end. Final remarks conclude the paper.
PB  - Belgrade: Serbian Society of Mechanics
C3  - Proceedings 9th International Congress of Serbian Society of Mechanics Vrnjačka Banja, Serbia, July 5-7, 2023
T1  - ANALYTICAL DESIGN OF RESONANT CONTROLLER APPLIED FOR SOLVING ROBOT ARM TRACKING PROBLEM
EP  - 282
SP  - 275
UR  - https://hdl.handle.net/21.15107/rcub_machinery_7237
ER  - 

@conference{
author = "Mandić, Petar and Šekara, Tomislav and Lazarević, Mihailo",
year = "2023",
abstract = "This paper deals with a topic of robot following a trajectory in three-dimensional space with a prescribed velocity law. Considering the nonlinear nature of robot manipulators, and high demands regarding tracking performances, this task is very challenging, but also very popular in control community because of its importance in industrial applications. To tackle successfully this problem, we proposed a resonant controller, which outperforms classical control schemes usually employed in this situation. In this particular case, robot manipulator needs to follow an ellipse trajectory with constant speed along the curve. First, mathematical model of three degrees of freedom robot arm is derived with included actuator dynamics. Then, numerical solution of inverse kinematics problem needs to be calculated in order to obtain desired trajectory in joint space. Third, analytical procedure for designing resonant controller is given, with parameters of the controller chosen in order to achieve a good performance/robustness trade-off, which is a key element in modern control design. Finally, proposed control scheme is tested and results of robot simulation are given in the end. Final remarks conclude the paper.",
publisher = "Belgrade: Serbian Society of Mechanics",
journal = "Proceedings 9th International Congress of Serbian Society of Mechanics Vrnjačka Banja, Serbia, July 5-7, 2023",
title = "ANALYTICAL DESIGN OF RESONANT CONTROLLER APPLIED FOR SOLVING ROBOT ARM TRACKING PROBLEM",
pages = "282-275",
url = "https://hdl.handle.net/21.15107/rcub_machinery_7237"
}

Mandić, P., Šekara, T.,& Lazarević, M.. (2023). ANALYTICAL DESIGN OF RESONANT CONTROLLER APPLIED FOR SOLVING ROBOT ARM TRACKING PROBLEM. in Proceedings 9th International Congress of Serbian Society of Mechanics Vrnjačka Banja, Serbia, July 5-7, 2023
Belgrade: Serbian Society of Mechanics., 275-282.
https://hdl.handle.net/21.15107/rcub_machinery_7237

Mandić P, Šekara T, Lazarević M. ANALYTICAL DESIGN OF RESONANT CONTROLLER APPLIED FOR SOLVING ROBOT ARM TRACKING PROBLEM. in Proceedings 9th International Congress of Serbian Society of Mechanics Vrnjačka Banja, Serbia, July 5-7, 2023. 2023;:275-282.
https://hdl.handle.net/21.15107/rcub_machinery_7237 .

Mandić, Petar, Šekara, Tomislav, Lazarević, Mihailo, "ANALYTICAL DESIGN OF RESONANT CONTROLLER APPLIED FOR SOLVING ROBOT ARM TRACKING PROBLEM" in Proceedings 9th International Congress of Serbian Society of Mechanics Vrnjačka Banja, Serbia, July 5-7, 2023 (2023):275-282,
https://hdl.handle.net/21.15107/rcub_machinery_7237 .

TY  - CONF
AU  - Lazarević, Mihailo
AU  - Radojević, Darko
AU  - Mandić, Petar
AU  - Pišl, Stjepko
AU  - Šekara, Tomislav
PY  - 2023
UR  - https://machinery.mas.bg.ac.rs/handle/123456789/6800
AB  - U ovom radu prvo se razmatra jedan mehanički sistem gde je u cilju smanjenja neželjenih vibracija primenjen prigušni viskoelastični element tipa Scot-Blair-a frakcionog reda 0<alpha≤1.  Primenjeno je upravljanje u povratnoj sprezi sa kašnjenjem koji  uključuje prvi i drugi izvod vektora stanja sa kašnjenjem.  Posebno, razmatra se slučaj zatvorenog neutralnog sistema sa  kašnjenjem frakcionog reda alpha=1/2, gde su dobijeni dovoljni  uslovi stabilnosti na konačnom vremenskom intervalu. Takođe,  razmatran je i slucaj potiskivanja samopobudnih (chattering)
oscilacija u procesu rezanja metala. Predloženo je upravljanje u  povratnoj sprezi sa kašnjenjem koji uključuje i drugi izvod  vektora stanja sa kašnjenjem. Formiran je odgovarajući kriterijum stabilnosti na konačnom vremenskom inervalu. Na kraju, efikasnost predloženog pristupa je ilustrovana na dva pogodno izabrana numerička primera
PB  - Univerzitet u Istočnom Sarajevu, Elektrotehnički fakultet
C3  - Zbornik radova XXII međunarodni simpozijum INFOTEH-JAHORINA 2023 15 - 17. mart 2023, Jahorina, Istočno Sarajevo, Republika Srpska, Bosna i Hercegovina
T1  - Upravljanje u povratnoj sprezi sa kašnjenjem određene klase mehaničkih sistema necelog i celog reda: neka pitanja stabilnosti i stabilizacije na konačnom vremenskom intervalu
EP  - 290
SP  - 285
UR  - https://hdl.handle.net/21.15107/rcub_machinery_6800
ER  - 

@conference{
author = "Lazarević, Mihailo and Radojević, Darko and Mandić, Petar and Pišl, Stjepko and Šekara, Tomislav",
year = "2023",
abstract = "U ovom radu prvo se razmatra jedan mehanički sistem gde je u cilju smanjenja neželjenih vibracija primenjen prigušni viskoelastični element tipa Scot-Blair-a frakcionog reda 0<alpha≤1.  Primenjeno je upravljanje u povratnoj sprezi sa kašnjenjem koji  uključuje prvi i drugi izvod vektora stanja sa kašnjenjem.  Posebno, razmatra se slučaj zatvorenog neutralnog sistema sa  kašnjenjem frakcionog reda alpha=1/2, gde su dobijeni dovoljni  uslovi stabilnosti na konačnom vremenskom intervalu. Takođe,  razmatran je i slucaj potiskivanja samopobudnih (chattering)
oscilacija u procesu rezanja metala. Predloženo je upravljanje u  povratnoj sprezi sa kašnjenjem koji uključuje i drugi izvod  vektora stanja sa kašnjenjem. Formiran je odgovarajući kriterijum stabilnosti na konačnom vremenskom inervalu. Na kraju, efikasnost predloženog pristupa je ilustrovana na dva pogodno izabrana numerička primera",
publisher = "Univerzitet u Istočnom Sarajevu, Elektrotehnički fakultet",
journal = "Zbornik radova XXII međunarodni simpozijum INFOTEH-JAHORINA 2023 15 - 17. mart 2023, Jahorina, Istočno Sarajevo, Republika Srpska, Bosna i Hercegovina",
title = "Upravljanje u povratnoj sprezi sa kašnjenjem određene klase mehaničkih sistema necelog i celog reda: neka pitanja stabilnosti i stabilizacije na konačnom vremenskom intervalu",
pages = "290-285",
url = "https://hdl.handle.net/21.15107/rcub_machinery_6800"
}

Lazarević, M., Radojević, D., Mandić, P., Pišl, S.,& Šekara, T.. (2023). Upravljanje u povratnoj sprezi sa kašnjenjem određene klase mehaničkih sistema necelog i celog reda: neka pitanja stabilnosti i stabilizacije na konačnom vremenskom intervalu. in Zbornik radova XXII međunarodni simpozijum INFOTEH-JAHORINA 2023 15 - 17. mart 2023, Jahorina, Istočno Sarajevo, Republika Srpska, Bosna i Hercegovina
Univerzitet u Istočnom Sarajevu, Elektrotehnički fakultet., 285-290.
https://hdl.handle.net/21.15107/rcub_machinery_6800

Lazarević M, Radojević D, Mandić P, Pišl S, Šekara T. Upravljanje u povratnoj sprezi sa kašnjenjem određene klase mehaničkih sistema necelog i celog reda: neka pitanja stabilnosti i stabilizacije na konačnom vremenskom intervalu. in Zbornik radova XXII međunarodni simpozijum INFOTEH-JAHORINA 2023 15 - 17. mart 2023, Jahorina, Istočno Sarajevo, Republika Srpska, Bosna i Hercegovina. 2023;:285-290.
https://hdl.handle.net/21.15107/rcub_machinery_6800 .

Lazarević, Mihailo, Radojević, Darko, Mandić, Petar, Pišl, Stjepko, Šekara, Tomislav, "Upravljanje u povratnoj sprezi sa kašnjenjem određene klase mehaničkih sistema necelog i celog reda: neka pitanja stabilnosti i stabilizacije na konačnom vremenskom intervalu" in Zbornik radova XXII međunarodni simpozijum INFOTEH-JAHORINA 2023 15 - 17. mart 2023, Jahorina, Istočno Sarajevo, Republika Srpska, Bosna i Hercegovina (2023):285-290,
https://hdl.handle.net/21.15107/rcub_machinery_6800 .

TY  - CONF
AU  - Mandić, Petar
AU  - Lazarević, Mihailo
AU  - Šekara, Tomislav
AU  - Maione, Guido
AU  - Lino, Paolo
PY  - 2022
UR  - https://machinery.mas.bg.ac.rs/handle/123456789/4079
AB  - This paper deals with a topic of robot trajectory control which is very popular in academic
and industrial research community. The task is very challenging considering the nonlinear
nature of robot manipulators, as well as high demands in tracking performances [1]. To
accomplish this, we proposed a combined feedforward-feedback control scheme [2], which
outperforms each of these two subroutines when run separately. The first one is based on
iterative learning algorithm of proportional-derivative (PD) type, while the second one is
classical feedback controller, also of PD type [3]. Parameters of the controller are designed to
achieve good performance/robustness trade-off, which is a key element in modern control
design. Mathematical model of three degrees of freedom robot arm is derived with included
actuator dynamics [4].
One of typical industrial applications of robot manipulators is a task of following a trajectory
in space with prescribed velocity law. Processes like arc welding, painting, laser cutting, object
inspection etc., are some of which wherein such demands can be met. In this particular case,
robot manipulator needs to follow a circular trajectory with constant speed along the path.
Numerical solution of inverse kinematics problem needs to be addressed first in order to obtain
desired trajectory in joint space. Then, proposed control scheme is employed and some
preliminary results are given in figures below. Ten consecutive simulations of robot trying to
follow a predetermined path are performed using the iterative learning control algorithm. In
each subsequent simulation tracking performances are improving, reducing the maximum
distance error by ten times in overall. Furthermore, by increasing the number of simulations,
the error can be made arbitrarily small. Also, this control design allows following of different
types of trajectories, with various velocity laws.
PB  - Univerzitet u Beogradu, Mašinski fakultet
C3  - Book of abstracts: 1st International Conference on Mathematical Modelling in Mechanics and Engineering Mathematical Institute SANU, 08-10. September, 2022.
T1  - Application of iterative learning control for path following of 3DOFS robot arm
EP  - 117
SP  - 116
UR  - https://hdl.handle.net/21.15107/rcub_machinery_4079
ER  - 

@conference{
author = "Mandić, Petar and Lazarević, Mihailo and Šekara, Tomislav and Maione, Guido and Lino, Paolo",
year = "2022",
abstract = "This paper deals with a topic of robot trajectory control which is very popular in academic
and industrial research community. The task is very challenging considering the nonlinear
nature of robot manipulators, as well as high demands in tracking performances [1]. To
accomplish this, we proposed a combined feedforward-feedback control scheme [2], which
outperforms each of these two subroutines when run separately. The first one is based on
iterative learning algorithm of proportional-derivative (PD) type, while the second one is
classical feedback controller, also of PD type [3]. Parameters of the controller are designed to
achieve good performance/robustness trade-off, which is a key element in modern control
design. Mathematical model of three degrees of freedom robot arm is derived with included
actuator dynamics [4].
One of typical industrial applications of robot manipulators is a task of following a trajectory
in space with prescribed velocity law. Processes like arc welding, painting, laser cutting, object
inspection etc., are some of which wherein such demands can be met. In this particular case,
robot manipulator needs to follow a circular trajectory with constant speed along the path.
Numerical solution of inverse kinematics problem needs to be addressed first in order to obtain
desired trajectory in joint space. Then, proposed control scheme is employed and some
preliminary results are given in figures below. Ten consecutive simulations of robot trying to
follow a predetermined path are performed using the iterative learning control algorithm. In
each subsequent simulation tracking performances are improving, reducing the maximum
distance error by ten times in overall. Furthermore, by increasing the number of simulations,
the error can be made arbitrarily small. Also, this control design allows following of different
types of trajectories, with various velocity laws.",
publisher = "Univerzitet u Beogradu, Mašinski fakultet",
journal = "Book of abstracts: 1st International Conference on Mathematical Modelling in Mechanics and Engineering Mathematical Institute SANU, 08-10. September, 2022.",
title = "Application of iterative learning control for path following of 3DOFS robot arm",
pages = "117-116",
url = "https://hdl.handle.net/21.15107/rcub_machinery_4079"
}

Mandić, P., Lazarević, M., Šekara, T., Maione, G.,& Lino, P.. (2022). Application of iterative learning control for path following of 3DOFS robot arm. in Book of abstracts: 1st International Conference on Mathematical Modelling in Mechanics and Engineering Mathematical Institute SANU, 08-10. September, 2022.
Univerzitet u Beogradu, Mašinski fakultet., 116-117.
https://hdl.handle.net/21.15107/rcub_machinery_4079

Mandić P, Lazarević M, Šekara T, Maione G, Lino P. Application of iterative learning control for path following of 3DOFS robot arm. in Book of abstracts: 1st International Conference on Mathematical Modelling in Mechanics and Engineering Mathematical Institute SANU, 08-10. September, 2022.. 2022;:116-117.
https://hdl.handle.net/21.15107/rcub_machinery_4079 .

Mandić, Petar, Lazarević, Mihailo, Šekara, Tomislav, Maione, Guido, Lino, Paolo, "Application of iterative learning control for path following of 3DOFS robot arm" in Book of abstracts: 1st International Conference on Mathematical Modelling in Mechanics and Engineering Mathematical Institute SANU, 08-10. September, 2022. (2022):116-117,
https://hdl.handle.net/21.15107/rcub_machinery_4079 .

TY  - CONF
AU  - Cvetković, Boško
AU  - Lazarević, Mihailo
AU  - Mandić, Petar
AU  - Šekara, Tomislav
AU  - Lino, Paolo
PY  - 2021
UR  - https://machinery.mas.bg.ac.rs/handle/123456789/4092
AB  - In this paper, an advanced iterative learning control algorithm (ILC) is introduced in order to
solve the output tracking problem of a robotic manipulator with three degrees of freedom.
Iterative fractional order PDμ type control is located in feedforward path, and combined together
with classical feedback PD controller. Fractional derivative μ provides additional flexibility in
adjusting the output performances. Parameters of the feedback controller are derived using a
modern approach which takes into consideration both performance and robustness characteristics
of the closed loop system. This is achieved by a suitable selection of only one adjustable
parameter. Mathematical model of robotic manipulator is derived together with actuator
dynamics, and it is shown that in the presence of high gear ratio the nonlinear effects can be
neglected, and only linear model can be observed. The efficiency of the proposed control
algorithm is demonstrated by simulations, in which robotic arm needs to follow desired trajectory
given in joint space. Excellent tracking performances are achieved only after few iterations.
PB  - Beograd : Srpsko društvo za mehaniku
C3  - 8th International Congress of Serbian Society of Mechanics, Kragujevac, Serbia, June 28-30 2021.
T1  - Open closed-loop PDmi/PD type ILC control of Neuroarm robotic system
EP  - 353
SP  - 344
UR  - https://hdl.handle.net/21.15107/rcub_machinery_4092
ER  - 

@conference{
author = "Cvetković, Boško and Lazarević, Mihailo and Mandić, Petar and Šekara, Tomislav and Lino, Paolo",
year = "2021",
abstract = "In this paper, an advanced iterative learning control algorithm (ILC) is introduced in order to
solve the output tracking problem of a robotic manipulator with three degrees of freedom.
Iterative fractional order PDμ type control is located in feedforward path, and combined together
with classical feedback PD controller. Fractional derivative μ provides additional flexibility in
adjusting the output performances. Parameters of the feedback controller are derived using a
modern approach which takes into consideration both performance and robustness characteristics
of the closed loop system. This is achieved by a suitable selection of only one adjustable
parameter. Mathematical model of robotic manipulator is derived together with actuator
dynamics, and it is shown that in the presence of high gear ratio the nonlinear effects can be
neglected, and only linear model can be observed. The efficiency of the proposed control
algorithm is demonstrated by simulations, in which robotic arm needs to follow desired trajectory
given in joint space. Excellent tracking performances are achieved only after few iterations.",
publisher = "Beograd : Srpsko društvo za mehaniku",
journal = "8th International Congress of Serbian Society of Mechanics, Kragujevac, Serbia, June 28-30 2021.",
title = "Open closed-loop PDmi/PD type ILC control of Neuroarm robotic system",
pages = "353-344",
url = "https://hdl.handle.net/21.15107/rcub_machinery_4092"
}

Cvetković, B., Lazarević, M., Mandić, P., Šekara, T.,& Lino, P.. (2021). Open closed-loop PDmi/PD type ILC control of Neuroarm robotic system. in 8th International Congress of Serbian Society of Mechanics, Kragujevac, Serbia, June 28-30 2021.
Beograd : Srpsko društvo za mehaniku., 344-353.
https://hdl.handle.net/21.15107/rcub_machinery_4092

Cvetković B, Lazarević M, Mandić P, Šekara T, Lino P. Open closed-loop PDmi/PD type ILC control of Neuroarm robotic system. in 8th International Congress of Serbian Society of Mechanics, Kragujevac, Serbia, June 28-30 2021.. 2021;:344-353.
https://hdl.handle.net/21.15107/rcub_machinery_4092 .

Cvetković, Boško, Lazarević, Mihailo, Mandić, Petar, Šekara, Tomislav, Lino, Paolo, "Open closed-loop PDmi/PD type ILC control of Neuroarm robotic system" in 8th International Congress of Serbian Society of Mechanics, Kragujevac, Serbia, June 28-30 2021. (2021):344-353,
https://hdl.handle.net/21.15107/rcub_machinery_4092 .

TY  - CONF
AU  - Mandić, Petar
AU  - Lazarević, Mihailo
AU  - Šekara, Tomislav
AU  - Bošković, Marko
AU  - Maione, Guido
PY  - 2019
UR  - https://machinery.mas.bg.ac.rs/handle/123456789/4103
AB  - In this paper a fractional order lag compensator is introduced for the control of robot
manipulators. Mathematical model of the robotic system is derived using the Rodriquez approach
which, due to a high gear ratio between the actuators and robot joints, reduces to a linear model.
Then, fractional order compensator is designed according to the symmetrical optimum principle.
Optimal values of controller parameters give good performance characteristics and high
robustness of the system, together with an iso-damping property of the closed loop reference
response. The effectiveness of the proposed method is illustrated through the control simulation
of three degrees of freedom robot manipulator.
PB  - Beograd : Srpsko društvo za mehaniku
C3  - Proceeding of 7th International Congress of Serbian Society of Mechanics Sremski Karlovci, Serbia, June 24-26, 2019, C1c
T1  - Robust control of a robot manipulators using fractional order lag compensator
UR  - https://hdl.handle.net/21.15107/rcub_machinery_4103
ER  - 

@conference{
author = "Mandić, Petar and Lazarević, Mihailo and Šekara, Tomislav and Bošković, Marko and Maione, Guido",
year = "2019",
abstract = "In this paper a fractional order lag compensator is introduced for the control of robot
manipulators. Mathematical model of the robotic system is derived using the Rodriquez approach
which, due to a high gear ratio between the actuators and robot joints, reduces to a linear model.
Then, fractional order compensator is designed according to the symmetrical optimum principle.
Optimal values of controller parameters give good performance characteristics and high
robustness of the system, together with an iso-damping property of the closed loop reference
response. The effectiveness of the proposed method is illustrated through the control simulation
of three degrees of freedom robot manipulator.",
publisher = "Beograd : Srpsko društvo za mehaniku",
journal = "Proceeding of 7th International Congress of Serbian Society of Mechanics Sremski Karlovci, Serbia, June 24-26, 2019, C1c",
title = "Robust control of a robot manipulators using fractional order lag compensator",
url = "https://hdl.handle.net/21.15107/rcub_machinery_4103"
}

Mandić, P., Lazarević, M., Šekara, T., Bošković, M.,& Maione, G.. (2019). Robust control of a robot manipulators using fractional order lag compensator. in Proceeding of 7th International Congress of Serbian Society of Mechanics Sremski Karlovci, Serbia, June 24-26, 2019, C1c
Beograd : Srpsko društvo za mehaniku..
https://hdl.handle.net/21.15107/rcub_machinery_4103

Mandić P, Lazarević M, Šekara T, Bošković M, Maione G. Robust control of a robot manipulators using fractional order lag compensator. in Proceeding of 7th International Congress of Serbian Society of Mechanics Sremski Karlovci, Serbia, June 24-26, 2019, C1c. 2019;.
https://hdl.handle.net/21.15107/rcub_machinery_4103 .

Mandić, Petar, Lazarević, Mihailo, Šekara, Tomislav, Bošković, Marko, Maione, Guido, "Robust control of a robot manipulators using fractional order lag compensator" in Proceeding of 7th International Congress of Serbian Society of Mechanics Sremski Karlovci, Serbia, June 24-26, 2019, C1c (2019),
https://hdl.handle.net/21.15107/rcub_machinery_4103 .

TY  - CONF
AU  - Bošković, Marko
AU  - Rapaić, Milan
AU  - Šekara, Tomislav
AU  - Mandić, Petar
AU  - Lazarević, Mihailo
PY  - 2019
UR  - https://machinery.mas.bg.ac.rs/handle/123456789/4100
AB  - U ovom radu je data jedna efikasna metoda projektovanja složenih kompenzatora bez integralnog dejstva. Kompenzatori sa ovakvom strukturom imaju primjenu u robotici i mehatroničkim sistemima. Željeni indeksi performanse i robusnosti ostvaruju se pogodnim izborom jednog podesivog parametra lamda što čini predloženu metodu fleksibilnom i jednostavnom za primjenu. Kompenzator je prvenstveno projektovan da se dobiju odzivi bez preskoka sa adekvatnom
brzinom reagovanja na step referentni signal, dok su maksimum funkcije osjetljivosti Ms i maksimum komplementarne funkcije osjetljivosti Mp korišćeni kao indeksi robusnosti. Dobijeni
kompenzatori su predstavljeni racionalnom funkcijom prenosa relativno niskog reda (manjeg od četiri) primjenom Padé aproksimacije eksponencijalnog člana. Efikasnost predložene
metode ilustrovana je numeričkim simulacijama na dvanaest tipičnih predstavnika industrijskih procesa: stabilnih, integralnih i nestabilnih, uključujući i transportno kašnjenje.
PB  - BiH: Istočno Sarajevo: Univerzitet u Istočnom Sarajevu, Elektrotehnički fakultet
C3  - Zbornik  radova  18th International Symposium INFOTEH-JAHORINA, 20-22 March 2019.
T1  - Jedna nova metoda projektovanja složenih kompenzatora u sistemima upravljanja
EP  - 387
SP  - 382
UR  - https://hdl.handle.net/21.15107/rcub_machinery_4100
ER  - 

@conference{
author = "Bošković, Marko and Rapaić, Milan and Šekara, Tomislav and Mandić, Petar and Lazarević, Mihailo",
year = "2019",
abstract = "U ovom radu je data jedna efikasna metoda projektovanja složenih kompenzatora bez integralnog dejstva. Kompenzatori sa ovakvom strukturom imaju primjenu u robotici i mehatroničkim sistemima. Željeni indeksi performanse i robusnosti ostvaruju se pogodnim izborom jednog podesivog parametra lamda što čini predloženu metodu fleksibilnom i jednostavnom za primjenu. Kompenzator je prvenstveno projektovan da se dobiju odzivi bez preskoka sa adekvatnom
brzinom reagovanja na step referentni signal, dok su maksimum funkcije osjetljivosti Ms i maksimum komplementarne funkcije osjetljivosti Mp korišćeni kao indeksi robusnosti. Dobijeni
kompenzatori su predstavljeni racionalnom funkcijom prenosa relativno niskog reda (manjeg od četiri) primjenom Padé aproksimacije eksponencijalnog člana. Efikasnost predložene
metode ilustrovana je numeričkim simulacijama na dvanaest tipičnih predstavnika industrijskih procesa: stabilnih, integralnih i nestabilnih, uključujući i transportno kašnjenje.",
publisher = "BiH: Istočno Sarajevo: Univerzitet u Istočnom Sarajevu, Elektrotehnički fakultet",
journal = "Zbornik  radova  18th International Symposium INFOTEH-JAHORINA, 20-22 March 2019.",
title = "Jedna nova metoda projektovanja složenih kompenzatora u sistemima upravljanja",
pages = "387-382",
url = "https://hdl.handle.net/21.15107/rcub_machinery_4100"
}

Bošković, M., Rapaić, M., Šekara, T., Mandić, P.,& Lazarević, M.. (2019). Jedna nova metoda projektovanja složenih kompenzatora u sistemima upravljanja. in Zbornik  radova  18th International Symposium INFOTEH-JAHORINA, 20-22 March 2019.
BiH: Istočno Sarajevo: Univerzitet u Istočnom Sarajevu, Elektrotehnički fakultet., 382-387.
https://hdl.handle.net/21.15107/rcub_machinery_4100

Bošković M, Rapaić M, Šekara T, Mandić P, Lazarević M. Jedna nova metoda projektovanja složenih kompenzatora u sistemima upravljanja. in Zbornik  radova  18th International Symposium INFOTEH-JAHORINA, 20-22 March 2019.. 2019;:382-387.
https://hdl.handle.net/21.15107/rcub_machinery_4100 .

Bošković, Marko, Rapaić, Milan, Šekara, Tomislav, Mandić, Petar, Lazarević, Mihailo, "Jedna nova metoda projektovanja složenih kompenzatora u sistemima upravljanja" in Zbornik  radova  18th International Symposium INFOTEH-JAHORINA, 20-22 March 2019. (2019):382-387,
https://hdl.handle.net/21.15107/rcub_machinery_4100 .

TY  - CONF
AU  - Mandić, Petar
AU  - Lazarević, Mihailo
AU  - Šekara, Tomislav
AU  - Cvetković, Boško
PY  - 2018
UR  - https://machinery.mas.bg.ac.rs/handle/123456789/4137
AB  - Most of the industrial robots use a classical PIDtype
controller for positioning tasks. A main reason for this is its
effectiveness in regulation tasks, simple linear structure, and
easy implementation. Moreover, it is well known that the
robustness properties of a PID controller make it an excellent
choice for set point control of robot manipulators. In this paper,
a robust PID controller is designed in order to cope with
modeling uncertainties and unmodelled dynamics. First,
dynamic model of robot manipulator is derived using the
Rodriquez approach. Then, a PID controller is applied to
feedback linearized robotic system in order to suppress constant
disturbance and achieve good set-point control. The proposed
controller contains one adjustable parameter lamda , which has a
direct influence on the time constant of the closed loop system.
By adjusting it, one can accomplish a compromise between the
robustness and performance indices. Using this algorithm,
simulation results of a NeuroArm robotic manipulator executing
positioning tasks are shown to demonstrate the efficiency of the
proposed controller.
PB  - Belgrade: ETRAN Society
PB  - Belgrade : Academic Mind
C3  - Proceedings of Papers – 5th International Conference on Electrical, Electronic and Computing Engineering, IcETRAN 2018,  Palić, Serbia, June 11 – 14, 2018.
T1  - Robust PID Control for Robot Manipulators with Parametric Uncertainties
EP  - 1059
SP  - 1054
UR  - https://hdl.handle.net/21.15107/rcub_machinery_4137
ER  - 

@conference{
author = "Mandić, Petar and Lazarević, Mihailo and Šekara, Tomislav and Cvetković, Boško",
year = "2018",
abstract = "Most of the industrial robots use a classical PIDtype
controller for positioning tasks. A main reason for this is its
effectiveness in regulation tasks, simple linear structure, and
easy implementation. Moreover, it is well known that the
robustness properties of a PID controller make it an excellent
choice for set point control of robot manipulators. In this paper,
a robust PID controller is designed in order to cope with
modeling uncertainties and unmodelled dynamics. First,
dynamic model of robot manipulator is derived using the
Rodriquez approach. Then, a PID controller is applied to
feedback linearized robotic system in order to suppress constant
disturbance and achieve good set-point control. The proposed
controller contains one adjustable parameter lamda , which has a
direct influence on the time constant of the closed loop system.
By adjusting it, one can accomplish a compromise between the
robustness and performance indices. Using this algorithm,
simulation results of a NeuroArm robotic manipulator executing
positioning tasks are shown to demonstrate the efficiency of the
proposed controller.",
publisher = "Belgrade: ETRAN Society, Belgrade : Academic Mind",
journal = "Proceedings of Papers – 5th International Conference on Electrical, Electronic and Computing Engineering, IcETRAN 2018,  Palić, Serbia, June 11 – 14, 2018.",
title = "Robust PID Control for Robot Manipulators with Parametric Uncertainties",
pages = "1059-1054",
url = "https://hdl.handle.net/21.15107/rcub_machinery_4137"
}

Mandić, P., Lazarević, M., Šekara, T.,& Cvetković, B.. (2018). Robust PID Control for Robot Manipulators with Parametric Uncertainties. in Proceedings of Papers – 5th International Conference on Electrical, Electronic and Computing Engineering, IcETRAN 2018,  Palić, Serbia, June 11 – 14, 2018.
Belgrade: ETRAN Society., 1054-1059.
https://hdl.handle.net/21.15107/rcub_machinery_4137

Mandić P, Lazarević M, Šekara T, Cvetković B. Robust PID Control for Robot Manipulators with Parametric Uncertainties. in Proceedings of Papers – 5th International Conference on Electrical, Electronic and Computing Engineering, IcETRAN 2018,  Palić, Serbia, June 11 – 14, 2018.. 2018;:1054-1059.
https://hdl.handle.net/21.15107/rcub_machinery_4137 .

Mandić, Petar, Lazarević, Mihailo, Šekara, Tomislav, Cvetković, Boško, "Robust PID Control for Robot Manipulators with Parametric Uncertainties" in Proceedings of Papers – 5th International Conference on Electrical, Electronic and Computing Engineering, IcETRAN 2018,  Palić, Serbia, June 11 – 14, 2018. (2018):1054-1059,
https://hdl.handle.net/21.15107/rcub_machinery_4137 .

TY  - CONF
AU  - Bučanović, Ljubiša
AU  - Lazarević, Mihailo
AU  - Mandić, Petar
AU  - Šekara, Tomislav
AU  - Dragović, Mladen
AU  - Govedarica, Vidan
PY  - 2018
UR  - https://machinery.mas.bg.ac.rs/handle/123456789/4131
AB  - U ovom radu predložen je i primenjen algoritam PID upravljanja koji je analitički projektovan u odnosu na zahtevanu robusnost, tj. u kriogenom procesu separacije vazduha. Za primenu u
sintezi zakona upravljanja, u cilju regulacije ulazne temperature i protoka vazduha kroz ekspanzionu turbinu, neophodno je odrediti odgovarajuće diferencijalne jednačine kriogenog procesa mešanja dva toka gasa na različitim temperaturama pre ulaska u ekspanzionu
turbinu.Nakon linearizacije i rasprezanja dobijenog modela, projektovan je PID kontroler prema parametrima zahtevane robusnosti.Prednosti predloženog upravljanja su ilustrovane na
simulacionom primeru gde se uočava značajno potiskivanje nemerljivog i merljivog poremećaja
PB  - Univerzitet u Istočnom Sarajevu, Elektrotehnički fakultet
C3  - 17th International Symposium INFOTEH-JAHORINA : el. proceedings, 21-23 March 2018
T1  - Multivarijabilno upravljanje kriogenim procesom primenom PID regulatora projektovanog u odnosu na zahtevanu robusnost
EP  - 448
SP  - 444
UR  - https://hdl.handle.net/21.15107/rcub_machinery_4131
ER  - 

@conference{
author = "Bučanović, Ljubiša and Lazarević, Mihailo and Mandić, Petar and Šekara, Tomislav and Dragović, Mladen and Govedarica, Vidan",
year = "2018",
abstract = "U ovom radu predložen je i primenjen algoritam PID upravljanja koji je analitički projektovan u odnosu na zahtevanu robusnost, tj. u kriogenom procesu separacije vazduha. Za primenu u
sintezi zakona upravljanja, u cilju regulacije ulazne temperature i protoka vazduha kroz ekspanzionu turbinu, neophodno je odrediti odgovarajuće diferencijalne jednačine kriogenog procesa mešanja dva toka gasa na različitim temperaturama pre ulaska u ekspanzionu
turbinu.Nakon linearizacije i rasprezanja dobijenog modela, projektovan je PID kontroler prema parametrima zahtevane robusnosti.Prednosti predloženog upravljanja su ilustrovane na
simulacionom primeru gde se uočava značajno potiskivanje nemerljivog i merljivog poremećaja",
publisher = "Univerzitet u Istočnom Sarajevu, Elektrotehnički fakultet",
journal = "17th International Symposium INFOTEH-JAHORINA : el. proceedings, 21-23 March 2018",
title = "Multivarijabilno upravljanje kriogenim procesom primenom PID regulatora projektovanog u odnosu na zahtevanu robusnost",
pages = "448-444",
url = "https://hdl.handle.net/21.15107/rcub_machinery_4131"
}

Bučanović, L., Lazarević, M., Mandić, P., Šekara, T., Dragović, M.,& Govedarica, V.. (2018). Multivarijabilno upravljanje kriogenim procesom primenom PID regulatora projektovanog u odnosu na zahtevanu robusnost. in 17th International Symposium INFOTEH-JAHORINA : el. proceedings, 21-23 March 2018
Univerzitet u Istočnom Sarajevu, Elektrotehnički fakultet., 444-448.
https://hdl.handle.net/21.15107/rcub_machinery_4131

Bučanović L, Lazarević M, Mandić P, Šekara T, Dragović M, Govedarica V. Multivarijabilno upravljanje kriogenim procesom primenom PID regulatora projektovanog u odnosu na zahtevanu robusnost. in 17th International Symposium INFOTEH-JAHORINA : el. proceedings, 21-23 March 2018. 2018;:444-448.
https://hdl.handle.net/21.15107/rcub_machinery_4131 .

Bučanović, Ljubiša, Lazarević, Mihailo, Mandić, Petar, Šekara, Tomislav, Dragović, Mladen, Govedarica, Vidan, "Multivarijabilno upravljanje kriogenim procesom primenom PID regulatora projektovanog u odnosu na zahtevanu robusnost" in 17th International Symposium INFOTEH-JAHORINA : el. proceedings, 21-23 March 2018 (2018):444-448,
https://hdl.handle.net/21.15107/rcub_machinery_4131 .

TY  - CONF
AU  - Bošković, Marko
AU  - Rapaić, Milan
AU  - Šekara, Tomislav
AU  - Lazarević, Mihailo
AU  - Mandić, Petar
PY  - 2017
UR  - https://machinery.mas.bg.ac.rs/handle/123456789/4164
AB  - This paper presents an effective design method of PID controller with series differential compensator ie. PIDC controller. The adjustable parameters of a PIDC controller are:
proportional gain kp, integral gain ki, derivative gain kd, the second order derivative gain kh and filter time constant Tf. The proposed design procedure is based on pole placement to
approximately obtain dynamics of the closed loop system defined with the poles of the criterion test function which has optimal performance in sense of minimal settling time without overshoot.
The design goal is to obtain good load disturbance response with constraint on robustness, so parameter kp is selected to guarantee desired robustness given in the form of closed loop maximum sensitivity Ms and considering sensitivity to the measurement noise Mn. This technique is applicable to a wide range of transfer functions: stable and unstable, with and without time-delay,
rational and non-rational and those describing distributed parameters. Validity of a proposed method is verified through a series of numerical simulations of processes typically encountered
in industry.
PB  - Univerzitet u Istočnom Sarajevu, Elektrotehnički fakultet
C3  - Zbornik radova 16th International Symposium INFOTEH-JAHORINA, 22-24 March 2017.
T1  - Pole placement based design of PIDC controller under constraint on robustness
EP  - 668
SP  - 664
UR  - https://hdl.handle.net/21.15107/rcub_machinery_4164
ER  - 

@conference{
author = "Bošković, Marko and Rapaić, Milan and Šekara, Tomislav and Lazarević, Mihailo and Mandić, Petar",
year = "2017",
abstract = "This paper presents an effective design method of PID controller with series differential compensator ie. PIDC controller. The adjustable parameters of a PIDC controller are:
proportional gain kp, integral gain ki, derivative gain kd, the second order derivative gain kh and filter time constant Tf. The proposed design procedure is based on pole placement to
approximately obtain dynamics of the closed loop system defined with the poles of the criterion test function which has optimal performance in sense of minimal settling time without overshoot.
The design goal is to obtain good load disturbance response with constraint on robustness, so parameter kp is selected to guarantee desired robustness given in the form of closed loop maximum sensitivity Ms and considering sensitivity to the measurement noise Mn. This technique is applicable to a wide range of transfer functions: stable and unstable, with and without time-delay,
rational and non-rational and those describing distributed parameters. Validity of a proposed method is verified through a series of numerical simulations of processes typically encountered
in industry.",
publisher = "Univerzitet u Istočnom Sarajevu, Elektrotehnički fakultet",
journal = "Zbornik radova 16th International Symposium INFOTEH-JAHORINA, 22-24 March 2017.",
title = "Pole placement based design of PIDC controller under constraint on robustness",
pages = "668-664",
url = "https://hdl.handle.net/21.15107/rcub_machinery_4164"
}

Bošković, M., Rapaić, M., Šekara, T., Lazarević, M.,& Mandić, P.. (2017). Pole placement based design of PIDC controller under constraint on robustness. in Zbornik radova 16th International Symposium INFOTEH-JAHORINA, 22-24 March 2017.
Univerzitet u Istočnom Sarajevu, Elektrotehnički fakultet., 664-668.
https://hdl.handle.net/21.15107/rcub_machinery_4164

Bošković M, Rapaić M, Šekara T, Lazarević M, Mandić P. Pole placement based design of PIDC controller under constraint on robustness. in Zbornik radova 16th International Symposium INFOTEH-JAHORINA, 22-24 March 2017.. 2017;:664-668.
https://hdl.handle.net/21.15107/rcub_machinery_4164 .

Bošković, Marko, Rapaić, Milan, Šekara, Tomislav, Lazarević, Mihailo, Mandić, Petar, "Pole placement based design of PIDC controller under constraint on robustness" in Zbornik radova 16th International Symposium INFOTEH-JAHORINA, 22-24 March 2017. (2017):664-668,
https://hdl.handle.net/21.15107/rcub_machinery_4164 .

TY  - CONF
AU  - Mandić, Petar
AU  - Lazarević, Mihailo
AU  - Stokić, Zoran
AU  - Šekara, Tomislav
PY  - 2017
UR  - https://machinery.mas.bg.ac.rs/handle/123456789/4148
AB  - In this paper kinematic and dynamic model or robot manipulator with 7 degrees of freedom is
given. Lagrange’s equations of second kind in the covariant form are obtained by applying
Rodriguez method, instead of regular Newton-Euler or Lagrange method. By implementing
inverse dynamics control, linear and decoupled system is obtained, after which classical PID
controller is introduced. In order to verify mathematical model is well derived, along with its
control system design, numerical simulation of given robot is presented, wherein trajectory
tracking problem is investigated.
PB  - Beograd : Srpsko društvo za mehaniku
C3  - 6th International Congress of Serbian Society  of Mechanics, Tara, Serbia, June 19-21, 2017
T1  - Dynamic modelling and control design of seven degrees of  freedom robotic arm
EP  - 8
SP  - 1
UR  - https://hdl.handle.net/21.15107/rcub_machinery_4148
ER  - 

@conference{
author = "Mandić, Petar and Lazarević, Mihailo and Stokić, Zoran and Šekara, Tomislav",
year = "2017",
abstract = "In this paper kinematic and dynamic model or robot manipulator with 7 degrees of freedom is
given. Lagrange’s equations of second kind in the covariant form are obtained by applying
Rodriguez method, instead of regular Newton-Euler or Lagrange method. By implementing
inverse dynamics control, linear and decoupled system is obtained, after which classical PID
controller is introduced. In order to verify mathematical model is well derived, along with its
control system design, numerical simulation of given robot is presented, wherein trajectory
tracking problem is investigated.",
publisher = "Beograd : Srpsko društvo za mehaniku",
journal = "6th International Congress of Serbian Society  of Mechanics, Tara, Serbia, June 19-21, 2017",
title = "Dynamic modelling and control design of seven degrees of  freedom robotic arm",
pages = "8-1",
url = "https://hdl.handle.net/21.15107/rcub_machinery_4148"
}

Mandić, P., Lazarević, M., Stokić, Z.,& Šekara, T.. (2017). Dynamic modelling and control design of seven degrees of  freedom robotic arm. in 6th International Congress of Serbian Society  of Mechanics, Tara, Serbia, June 19-21, 2017
Beograd : Srpsko društvo za mehaniku., 1-8.
https://hdl.handle.net/21.15107/rcub_machinery_4148

Mandić P, Lazarević M, Stokić Z, Šekara T. Dynamic modelling and control design of seven degrees of  freedom robotic arm. in 6th International Congress of Serbian Society  of Mechanics, Tara, Serbia, June 19-21, 2017. 2017;:1-8.
https://hdl.handle.net/21.15107/rcub_machinery_4148 .

Mandić, Petar, Lazarević, Mihailo, Stokić, Zoran, Šekara, Tomislav, "Dynamic modelling and control design of seven degrees of  freedom robotic arm" in 6th International Congress of Serbian Society  of Mechanics, Tara, Serbia, June 19-21, 2017 (2017):1-8,
https://hdl.handle.net/21.15107/rcub_machinery_4148 .

TY  - CONF
AU  - Mandić, Petar
AU  - Lazarević, Mihailo
AU  - Šekara, Tomislav
AU  - Jovanović, Radiša
PY  - 2016
UR  - https://machinery.mas.bg.ac.rs/handle/123456789/4185
AB  - This paper deals with stability problem of cart inverted pendulum system controlled by a
fractional order controller. Inverted pendulum is an underactuated mechanical system
with one control input and two degrees of freedom. Detailed mathematical model of
pendulum is derived using the Rodriguez method. Stabilization of pendulum around its
unstable equilibrium point is achieved by using the fractional order PDα controller, in
combination with partial feedback linearization technique. Since fractional order control
law includes non-rational functions, an efficient method for numerical evaluation of this
type of functions is used in this paper. The performance of the proposed method is
demonstrated with experimental verification of the stabilization control of the cart
pendulum system.
PB  - Belgrade: Serbian Society of Mechanics
PB  - Faculty of Technical Sciences Novi Sad
C3  - Proceedings of International Conference on Fractional Differentiation and its Application ICFDA16, 18-20 July 2016, Novi Sad, Serbia
T1  - Stabilization of the cart pendulum system by fractional order control with experimental realization
EP  - 423
SP  - 415
UR  - https://hdl.handle.net/21.15107/rcub_machinery_4185
ER  - 

@conference{
author = "Mandić, Petar and Lazarević, Mihailo and Šekara, Tomislav and Jovanović, Radiša",
year = "2016",
abstract = "This paper deals with stability problem of cart inverted pendulum system controlled by a
fractional order controller. Inverted pendulum is an underactuated mechanical system
with one control input and two degrees of freedom. Detailed mathematical model of
pendulum is derived using the Rodriguez method. Stabilization of pendulum around its
unstable equilibrium point is achieved by using the fractional order PDα controller, in
combination with partial feedback linearization technique. Since fractional order control
law includes non-rational functions, an efficient method for numerical evaluation of this
type of functions is used in this paper. The performance of the proposed method is
demonstrated with experimental verification of the stabilization control of the cart
pendulum system.",
publisher = "Belgrade: Serbian Society of Mechanics, Faculty of Technical Sciences Novi Sad",
journal = "Proceedings of International Conference on Fractional Differentiation and its Application ICFDA16, 18-20 July 2016, Novi Sad, Serbia",
title = "Stabilization of the cart pendulum system by fractional order control with experimental realization",
pages = "423-415",
url = "https://hdl.handle.net/21.15107/rcub_machinery_4185"
}

Mandić, P., Lazarević, M., Šekara, T.,& Jovanović, R.. (2016). Stabilization of the cart pendulum system by fractional order control with experimental realization. in Proceedings of International Conference on Fractional Differentiation and its Application ICFDA16, 18-20 July 2016, Novi Sad, Serbia
Belgrade: Serbian Society of Mechanics., 415-423.
https://hdl.handle.net/21.15107/rcub_machinery_4185

Mandić P, Lazarević M, Šekara T, Jovanović R. Stabilization of the cart pendulum system by fractional order control with experimental realization. in Proceedings of International Conference on Fractional Differentiation and its Application ICFDA16, 18-20 July 2016, Novi Sad, Serbia. 2016;:415-423.
https://hdl.handle.net/21.15107/rcub_machinery_4185 .

Mandić, Petar, Lazarević, Mihailo, Šekara, Tomislav, Jovanović, Radiša, "Stabilization of the cart pendulum system by fractional order control with experimental realization" in Proceedings of International Conference on Fractional Differentiation and its Application ICFDA16, 18-20 July 2016, Novi Sad, Serbia (2016):415-423,
https://hdl.handle.net/21.15107/rcub_machinery_4185 .

TY  - CONF
AU  - Mandić, Petar
AU  - Lazarević, Mihailo
AU  - Šekara, Tomislav
PY  - 2016
UR  - https://machinery.mas.bg.ac.rs/handle/123456789/6566
AB  - Many systems in nature are inherently under-actuated, with fewer actuators than degrees of freedom.  However, even with reduced number of actuators, these systems are able to produce complex movements. To be capable of performing such motions, complex control algorithms must be implemented. Classical benchmark examples for studying problems of this kind include inverted pendulum systems. This paper deals with stability  problem of two types of inverted pendulum controlled by a fractional order PD controller. Rotational and cart inverted pendulum are highly nonlinear mechanical systems with one control input and two degrees of freedom.
Detailed mathematical model of both pendulums are derived using the Rodriguez method. Stabilization of pendulum around its unstable equilibrium point is achieved by using the fractional order PDα controller, in combination with partial feedback linearization technique. There are several methods for determining stability  region of a closed loop system, and D-decomposition is one of them. Herein, D-decomposition method is applied to the inverted pendulum case, and determining its stability regions in parameters space of a fractional order PD controller is presented. D-decomposition for linear fractional systems is investigated, and for the case of linear
parameters dependence. Fractional order control laws are represented by a transfer functions which are not  rational, which gives rise to a problem of practical implementation of the corresponding control algorithms. A method for rational approximation of linear fractional order systems used in this paper is computationally efficient, accurate, and relies on the interpolation of the frequency characteristics of the system on a predefined set of target frequencies. The performance of the proposed method is demonstrated with experimental verification of the stabilization control of the cart pendulum system.
PB  - Faculty of Mechanical Engineering, Belgrade
PB  - University of Belgrade Mathematical Institute, Serbian Academy of Sciences and Arts
C3  - Booklet of Abstracts Mini-symposium “ Fractional Calculus with applications in problems of diffusion, control and dynamics of complex systems”, July 13, 2016, 2016, 28
T1  - Stabilization control of inverted pendulum systems by fractional order PD controller based on D-decomposition technique
EP  - 28
SP  - 28
UR  - https://hdl.handle.net/21.15107/rcub_machinery_6566
ER  - 

@conference{
author = "Mandić, Petar and Lazarević, Mihailo and Šekara, Tomislav",
year = "2016",
abstract = "Many systems in nature are inherently under-actuated, with fewer actuators than degrees of freedom.  However, even with reduced number of actuators, these systems are able to produce complex movements. To be capable of performing such motions, complex control algorithms must be implemented. Classical benchmark examples for studying problems of this kind include inverted pendulum systems. This paper deals with stability  problem of two types of inverted pendulum controlled by a fractional order PD controller. Rotational and cart inverted pendulum are highly nonlinear mechanical systems with one control input and two degrees of freedom.
Detailed mathematical model of both pendulums are derived using the Rodriguez method. Stabilization of pendulum around its unstable equilibrium point is achieved by using the fractional order PDα controller, in combination with partial feedback linearization technique. There are several methods for determining stability  region of a closed loop system, and D-decomposition is one of them. Herein, D-decomposition method is applied to the inverted pendulum case, and determining its stability regions in parameters space of a fractional order PD controller is presented. D-decomposition for linear fractional systems is investigated, and for the case of linear
parameters dependence. Fractional order control laws are represented by a transfer functions which are not  rational, which gives rise to a problem of practical implementation of the corresponding control algorithms. A method for rational approximation of linear fractional order systems used in this paper is computationally efficient, accurate, and relies on the interpolation of the frequency characteristics of the system on a predefined set of target frequencies. The performance of the proposed method is demonstrated with experimental verification of the stabilization control of the cart pendulum system.",
publisher = "Faculty of Mechanical Engineering, Belgrade, University of Belgrade Mathematical Institute, Serbian Academy of Sciences and Arts",
journal = "Booklet of Abstracts Mini-symposium “ Fractional Calculus with applications in problems of diffusion, control and dynamics of complex systems”, July 13, 2016, 2016, 28",
title = "Stabilization control of inverted pendulum systems by fractional order PD controller based on D-decomposition technique",
pages = "28-28",
url = "https://hdl.handle.net/21.15107/rcub_machinery_6566"
}

Mandić, P., Lazarević, M.,& Šekara, T.. (2016). Stabilization control of inverted pendulum systems by fractional order PD controller based on D-decomposition technique. in Booklet of Abstracts Mini-symposium “ Fractional Calculus with applications in problems of diffusion, control and dynamics of complex systems”, July 13, 2016, 2016, 28
Faculty of Mechanical Engineering, Belgrade., 28-28.
https://hdl.handle.net/21.15107/rcub_machinery_6566

Mandić P, Lazarević M, Šekara T. Stabilization control of inverted pendulum systems by fractional order PD controller based on D-decomposition technique. in Booklet of Abstracts Mini-symposium “ Fractional Calculus with applications in problems of diffusion, control and dynamics of complex systems”, July 13, 2016, 2016, 28. 2016;:28-28.
https://hdl.handle.net/21.15107/rcub_machinery_6566 .

Mandić, Petar, Lazarević, Mihailo, Šekara, Tomislav, "Stabilization control of inverted pendulum systems by fractional order PD controller based on D-decomposition technique" in Booklet of Abstracts Mini-symposium “ Fractional Calculus with applications in problems of diffusion, control and dynamics of complex systems”, July 13, 2016, 2016, 28 (2016):28-28,
https://hdl.handle.net/21.15107/rcub_machinery_6566 .

TY  - CONF
AU  - Bučanović, Ljubiša
AU  - Lazarević, Mihailo
AU  - Mandić, Petar
AU  - Šekara, Tomislav
PY  - 2016
UR  - https://machinery.mas.bg.ac.rs/handle/123456789/4190
AB  - In the air production cryogenic liquid [1], the nowadays energy concern
and operation requirement can rather exploit the advances in control
systems theory to derive optimally designed closed-loop plants that
can operate near their maximum capacity without the need for
overestimated security margins. In recent years,considerable attention
has been paid to control systems whose controllers are of a fractional
order,[2], i.e. for real applications,to develop advanced methods for
PIbeta Dalfa controller design and parameter tuning. Here, we suggest and
obtain a new algorithms of multivariable fractional PID control by applying
D-decomposition method in the producing of technical gases.
PB  - Belgrade : Serbian Society of Mechanics
PB  - Faculty of Technical Sciences Novi Sad
C3  - Proceedings of International Conference on Fractional Differentiation and its Application, ICFDA16, 18-20 July 2016, Novi Sad, Serbia
T1  - Multivariable fractional order PID control of the cryogenic process of mixing of two gaseous airs flows: D-decomposition method
EP  - 902
SP  - 902
UR  - https://hdl.handle.net/21.15107/rcub_machinery_4190
ER  - 

@conference{
author = "Bučanović, Ljubiša and Lazarević, Mihailo and Mandić, Petar and Šekara, Tomislav",
year = "2016",
abstract = "In the air production cryogenic liquid [1], the nowadays energy concern
and operation requirement can rather exploit the advances in control
systems theory to derive optimally designed closed-loop plants that
can operate near their maximum capacity without the need for
overestimated security margins. In recent years,considerable attention
has been paid to control systems whose controllers are of a fractional
order,[2], i.e. for real applications,to develop advanced methods for
PIbeta Dalfa controller design and parameter tuning. Here, we suggest and
obtain a new algorithms of multivariable fractional PID control by applying
D-decomposition method in the producing of technical gases.",
publisher = "Belgrade : Serbian Society of Mechanics, Faculty of Technical Sciences Novi Sad",
journal = "Proceedings of International Conference on Fractional Differentiation and its Application, ICFDA16, 18-20 July 2016, Novi Sad, Serbia",
title = "Multivariable fractional order PID control of the cryogenic process of mixing of two gaseous airs flows: D-decomposition method",
pages = "902-902",
url = "https://hdl.handle.net/21.15107/rcub_machinery_4190"
}

Bučanović, L., Lazarević, M., Mandić, P.,& Šekara, T.. (2016). Multivariable fractional order PID control of the cryogenic process of mixing of two gaseous airs flows: D-decomposition method. in Proceedings of International Conference on Fractional Differentiation and its Application, ICFDA16, 18-20 July 2016, Novi Sad, Serbia
Belgrade : Serbian Society of Mechanics., 902-902.
https://hdl.handle.net/21.15107/rcub_machinery_4190

Bučanović L, Lazarević M, Mandić P, Šekara T. Multivariable fractional order PID control of the cryogenic process of mixing of two gaseous airs flows: D-decomposition method. in Proceedings of International Conference on Fractional Differentiation and its Application, ICFDA16, 18-20 July 2016, Novi Sad, Serbia. 2016;:902-902.
https://hdl.handle.net/21.15107/rcub_machinery_4190 .

Bučanović, Ljubiša, Lazarević, Mihailo, Mandić, Petar, Šekara, Tomislav, "Multivariable fractional order PID control of the cryogenic process of mixing of two gaseous airs flows: D-decomposition method" in Proceedings of International Conference on Fractional Differentiation and its Application, ICFDA16, 18-20 July 2016, Novi Sad, Serbia (2016):902-902,
https://hdl.handle.net/21.15107/rcub_machinery_4190 .

TY  - CONF
AU  - Bošković, Marko
AU  - Šekara, Tomislav
AU  - Rapaić, Milan
AU  - Lazarević, Mihailo
AU  - Mandić, Petar
PY  - 2016
UR  - https://machinery.mas.bg.ac.rs/handle/123456789/4187
AB  - This paper presents a novel, simple, flexible and effective discretization method for linear
non-rational systems including arbitrary linear fractional order systems (LFOS). The
discretization algorithm relies on the direct integration in the complex domain and
application of ARX (AutoRegressive eXogenous) model. Parameters of ARX-model are
obtained by numerical inversion of Laplace transform from the set of input/output data
from recorded step response to model of non-rational system. Numerical simulations of
several representatives of LFOS (e.g. fractional order PID controller, fractional
logarithmic filter, fractional oscillator etc.) are used to demonstrate the effectiveness of
the proposed discretization method, both in the time and frequency domains. The
obtained results indicate that the proposed ARX-based discretization method is adequate
technique for obtaining digital approximation of LFOS.
PB  - Belgrade: Serbian Society of Mechanics
PB  - Faculty of Technical Sciences Novi Sad
C3  - Proceedings of International Conference on Fractional Differentiation and its Application ICFDA16, 18-20 July 2016, Novi Sad, Serbia
T1  - A novel ARX-based discretization method for linear non-rational systems
EP  - 352
SP  - 343
UR  - https://hdl.handle.net/21.15107/rcub_machinery_4187
ER  - 

@conference{
author = "Bošković, Marko and Šekara, Tomislav and Rapaić, Milan and Lazarević, Mihailo and Mandić, Petar",
year = "2016",
abstract = "This paper presents a novel, simple, flexible and effective discretization method for linear
non-rational systems including arbitrary linear fractional order systems (LFOS). The
discretization algorithm relies on the direct integration in the complex domain and
application of ARX (AutoRegressive eXogenous) model. Parameters of ARX-model are
obtained by numerical inversion of Laplace transform from the set of input/output data
from recorded step response to model of non-rational system. Numerical simulations of
several representatives of LFOS (e.g. fractional order PID controller, fractional
logarithmic filter, fractional oscillator etc.) are used to demonstrate the effectiveness of
the proposed discretization method, both in the time and frequency domains. The
obtained results indicate that the proposed ARX-based discretization method is adequate
technique for obtaining digital approximation of LFOS.",
publisher = "Belgrade: Serbian Society of Mechanics, Faculty of Technical Sciences Novi Sad",
journal = "Proceedings of International Conference on Fractional Differentiation and its Application ICFDA16, 18-20 July 2016, Novi Sad, Serbia",
title = "A novel ARX-based discretization method for linear non-rational systems",
pages = "352-343",
url = "https://hdl.handle.net/21.15107/rcub_machinery_4187"
}

Bošković, M., Šekara, T., Rapaić, M., Lazarević, M.,& Mandić, P.. (2016). A novel ARX-based discretization method for linear non-rational systems. in Proceedings of International Conference on Fractional Differentiation and its Application ICFDA16, 18-20 July 2016, Novi Sad, Serbia
Belgrade: Serbian Society of Mechanics., 343-352.
https://hdl.handle.net/21.15107/rcub_machinery_4187

Bošković M, Šekara T, Rapaić M, Lazarević M, Mandić P. A novel ARX-based discretization method for linear non-rational systems. in Proceedings of International Conference on Fractional Differentiation and its Application ICFDA16, 18-20 July 2016, Novi Sad, Serbia. 2016;:343-352.
https://hdl.handle.net/21.15107/rcub_machinery_4187 .

Bošković, Marko, Šekara, Tomislav, Rapaić, Milan, Lazarević, Mihailo, Mandić, Petar, "A novel ARX-based discretization method for linear non-rational systems" in Proceedings of International Conference on Fractional Differentiation and its Application ICFDA16, 18-20 July 2016, Novi Sad, Serbia (2016):343-352,
https://hdl.handle.net/21.15107/rcub_machinery_4187 .

TY  - CONF
AU  - Mandić, Petar
AU  - Lazarević, Mihailo
AU  - Djurović, Nikola
AU  - Šekara, Tomislav
PY  - 2015
UR  - https://machinery.mas.bg.ac.rs/handle/123456789/4250
AB  - This paper deals with stability problem of cart inverted pendulum controlled by a fractional
order PD controller. Inverted pendulum is an underactuated mechanical system because it has one
control input and two degrees of freedom. Detailed mathematical model of pendulum is derived
using the Rodriguez method and fractional order PD controller is introduced in order to stabilize
it. Control strategy consists of two parts, a swing up controller and stabilizing controller. Problem
of asymptotic stability of closed loop system is solved using the D-decomposition approach.
Stability regions in control parameters space are calculated using this method, and tuning of the
fractional order controller can be carried out.
PB  - Belgrade : Serbian Society of Mechanics
PB  - Novi Sad : Faculty of Technical Sciences
C3  - Proceedings of the 5th International Congress of Serbian Society of Mechanics, Arandjelovac, June 15-17, 2015, C2c
T1  - Stabilization of cart pendulum system by using fractional  order PD controller
EP  - 8
SP  - 1
UR  - https://hdl.handle.net/21.15107/rcub_machinery_4250
ER  - 

@conference{
author = "Mandić, Petar and Lazarević, Mihailo and Djurović, Nikola and Šekara, Tomislav",
year = "2015",
abstract = "This paper deals with stability problem of cart inverted pendulum controlled by a fractional
order PD controller. Inverted pendulum is an underactuated mechanical system because it has one
control input and two degrees of freedom. Detailed mathematical model of pendulum is derived
using the Rodriguez method and fractional order PD controller is introduced in order to stabilize
it. Control strategy consists of two parts, a swing up controller and stabilizing controller. Problem
of asymptotic stability of closed loop system is solved using the D-decomposition approach.
Stability regions in control parameters space are calculated using this method, and tuning of the
fractional order controller can be carried out.",
publisher = "Belgrade : Serbian Society of Mechanics, Novi Sad : Faculty of Technical Sciences",
journal = "Proceedings of the 5th International Congress of Serbian Society of Mechanics, Arandjelovac, June 15-17, 2015, C2c",
title = "Stabilization of cart pendulum system by using fractional  order PD controller",
pages = "8-1",
url = "https://hdl.handle.net/21.15107/rcub_machinery_4250"
}

Mandić, P., Lazarević, M., Djurović, N.,& Šekara, T.. (2015). Stabilization of cart pendulum system by using fractional  order PD controller. in Proceedings of the 5th International Congress of Serbian Society of Mechanics, Arandjelovac, June 15-17, 2015, C2c
Belgrade : Serbian Society of Mechanics., 1-8.
https://hdl.handle.net/21.15107/rcub_machinery_4250

Mandić P, Lazarević M, Djurović N, Šekara T. Stabilization of cart pendulum system by using fractional  order PD controller. in Proceedings of the 5th International Congress of Serbian Society of Mechanics, Arandjelovac, June 15-17, 2015, C2c. 2015;:1-8.
https://hdl.handle.net/21.15107/rcub_machinery_4250 .

Mandić, Petar, Lazarević, Mihailo, Djurović, Nikola, Šekara, Tomislav, "Stabilization of cart pendulum system by using fractional  order PD controller" in Proceedings of the 5th International Congress of Serbian Society of Mechanics, Arandjelovac, June 15-17, 2015, C2c (2015):1-8,
https://hdl.handle.net/21.15107/rcub_machinery_4250 .

TY  - CONF
AU  - Mandić, Petar
AU  - Šekara, Tomislav
AU  - Lazarević, Mihailo
PY  - 2015
UR  - https://machinery.mas.bg.ac.rs/handle/123456789/4363
AB  - Poslednjih decenija znacajna paznja naucne zajednice usmerena je na proucavanje linearnih frakcionih sistema, odnosno sistema opisanih linearnim diferencijalnim jednacinama necelobrojnog reda. Razlog za to je da se mnogi fizicki sistemi mogu opisati diferencijalnim jednacinama ovog tipa, koje ukljucuju izvode necelobrojnog reda. PID kontroleri su, s druge strane,
najzastupljeniji upravljacki algoritmi u industriji, pre svega zbog svoje relativno jednostavne strukture i implementacije. Da bi se poboljsale performanse i robusnost klasicnog PID algoritma, uvodi se frakcioni PID ili PI(lamda)D(mi) kontroler, gde su lamda i mi integrator i diferencijator necelobrojnog reda, respektivno. Problem stabilnosti sistema je jedan od osnovnih zahteva u
teoriji upravljanja. Postoji vise pristupa za resavanje ovog problema, medju kojima je i metoda D-razlaganja. U ovom radu, metoda D-razlaganja je uopstena i prosirena za klasu linearnih diferencijalnih frakcionih jednacina,  koje svoju primenu imaju u teoriji upravljanja. Razmatran je slucaj linearne zavisnosti parametara, a u konkretnom primeru opisan je i nacin na koji se
izlozeni postupak moze iskoristiti i za resavanje problema nelinearne parametarske zavisnosti. Prikazan je jednostavan i efikasan algoritam za odredjivanje granica stabilnosti u parametarskoj ravni. Testiranje ispravnosti  predlozenog algoritma izvrseno je u numerickoj simulaciji u programskom paketu Matlab.
PB  - Univerzitet u Istocnom Sarajevu, Fakultet za proizvodnju i menadzment Trebinje
C3  - Zbornik radova  Fourth mathematical conference of the Republic of Srpska Trebinje, 6 and 7 June 2014, BIH
T1  - Primena PID kontrolera necelobrojnog reda za stabilizaciju linearnih sistema upravljanja
EP  - 208
SP  - 195
UR  - https://hdl.handle.net/21.15107/rcub_machinery_4363
ER  - 

@conference{
author = "Mandić, Petar and Šekara, Tomislav and Lazarević, Mihailo",
year = "2015",
abstract = "Poslednjih decenija znacajna paznja naucne zajednice usmerena je na proucavanje linearnih frakcionih sistema, odnosno sistema opisanih linearnim diferencijalnim jednacinama necelobrojnog reda. Razlog za to je da se mnogi fizicki sistemi mogu opisati diferencijalnim jednacinama ovog tipa, koje ukljucuju izvode necelobrojnog reda. PID kontroleri su, s druge strane,
najzastupljeniji upravljacki algoritmi u industriji, pre svega zbog svoje relativno jednostavne strukture i implementacije. Da bi se poboljsale performanse i robusnost klasicnog PID algoritma, uvodi se frakcioni PID ili PI(lamda)D(mi) kontroler, gde su lamda i mi integrator i diferencijator necelobrojnog reda, respektivno. Problem stabilnosti sistema je jedan od osnovnih zahteva u
teoriji upravljanja. Postoji vise pristupa za resavanje ovog problema, medju kojima je i metoda D-razlaganja. U ovom radu, metoda D-razlaganja je uopstena i prosirena za klasu linearnih diferencijalnih frakcionih jednacina,  koje svoju primenu imaju u teoriji upravljanja. Razmatran je slucaj linearne zavisnosti parametara, a u konkretnom primeru opisan je i nacin na koji se
izlozeni postupak moze iskoristiti i za resavanje problema nelinearne parametarske zavisnosti. Prikazan je jednostavan i efikasan algoritam za odredjivanje granica stabilnosti u parametarskoj ravni. Testiranje ispravnosti  predlozenog algoritma izvrseno je u numerickoj simulaciji u programskom paketu Matlab.",
publisher = "Univerzitet u Istocnom Sarajevu, Fakultet za proizvodnju i menadzment Trebinje",
journal = "Zbornik radova  Fourth mathematical conference of the Republic of Srpska Trebinje, 6 and 7 June 2014, BIH",
title = "Primena PID kontrolera necelobrojnog reda za stabilizaciju linearnih sistema upravljanja",
pages = "208-195",
url = "https://hdl.handle.net/21.15107/rcub_machinery_4363"
}

Mandić, P., Šekara, T.,& Lazarević, M.. (2015). Primena PID kontrolera necelobrojnog reda za stabilizaciju linearnih sistema upravljanja. in Zbornik radova  Fourth mathematical conference of the Republic of Srpska Trebinje, 6 and 7 June 2014, BIH
Univerzitet u Istocnom Sarajevu, Fakultet za proizvodnju i menadzment Trebinje., 195-208.
https://hdl.handle.net/21.15107/rcub_machinery_4363

Mandić P, Šekara T, Lazarević M. Primena PID kontrolera necelobrojnog reda za stabilizaciju linearnih sistema upravljanja. in Zbornik radova  Fourth mathematical conference of the Republic of Srpska Trebinje, 6 and 7 June 2014, BIH. 2015;:195-208.
https://hdl.handle.net/21.15107/rcub_machinery_4363 .

Mandić, Petar, Šekara, Tomislav, Lazarević, Mihailo, "Primena PID kontrolera necelobrojnog reda za stabilizaciju linearnih sistema upravljanja" in Zbornik radova  Fourth mathematical conference of the Republic of Srpska Trebinje, 6 and 7 June 2014, BIH (2015):195-208,
https://hdl.handle.net/21.15107/rcub_machinery_4363 .

TY  - CONF
AU  - Bošković, Marko
AU  - Šekara, Tomislav
AU  - Mandić, Petar
AU  - Lazarević, Mihailo
AU  - Govedarica, Vidan
PY  - 2015
UR  - https://machinery.mas.bg.ac.rs/handle/123456789/4222
AB  - U ovom radu je data jedna nova metoda projektovanja
PID regulatora za zadate performanse sistema u zatvorenoj
sprezi primjenom spektra polova i D-razlaganja. Data metoda
omogućava da se odredi skup dozvoljenih vrijednosti parametara
PID regulatora za koje je razmatrani sistem relativno stabilan tj.
ispunjava postavljene zahtjeve na zadate performanse sistema u
zatvorenoj sprezi. Efikasnost predložene metode je analizirana sa
simulacijama na širokoj klasi industrijskh procesa sa
transportnim kašnjenjem.
PB  - Univerzitet u Istočnom Sarajevu, Elektrotehnički fakultet
C3  - Zbornik radova 14th International Symposium INFOTEH-JAHORINA, 10-20 March 2015.
T1  - Jedna nova metoda projektovanja PID regulatora primjenom spektra polova i D-razlaganja pod ograničenjima na performanse
EP  - 812
SP  - 808
UR  - https://hdl.handle.net/21.15107/rcub_machinery_4222
ER  - 

@conference{
author = "Bošković, Marko and Šekara, Tomislav and Mandić, Petar and Lazarević, Mihailo and Govedarica, Vidan",
year = "2015",
abstract = "U ovom radu je data jedna nova metoda projektovanja
PID regulatora za zadate performanse sistema u zatvorenoj
sprezi primjenom spektra polova i D-razlaganja. Data metoda
omogućava da se odredi skup dozvoljenih vrijednosti parametara
PID regulatora za koje je razmatrani sistem relativno stabilan tj.
ispunjava postavljene zahtjeve na zadate performanse sistema u
zatvorenoj sprezi. Efikasnost predložene metode je analizirana sa
simulacijama na širokoj klasi industrijskh procesa sa
transportnim kašnjenjem.",
publisher = "Univerzitet u Istočnom Sarajevu, Elektrotehnički fakultet",
journal = "Zbornik radova 14th International Symposium INFOTEH-JAHORINA, 10-20 March 2015.",
title = "Jedna nova metoda projektovanja PID regulatora primjenom spektra polova i D-razlaganja pod ograničenjima na performanse",
pages = "812-808",
url = "https://hdl.handle.net/21.15107/rcub_machinery_4222"
}

Bošković, M., Šekara, T., Mandić, P., Lazarević, M.,& Govedarica, V.. (2015). Jedna nova metoda projektovanja PID regulatora primjenom spektra polova i D-razlaganja pod ograničenjima na performanse. in Zbornik radova 14th International Symposium INFOTEH-JAHORINA, 10-20 March 2015.
Univerzitet u Istočnom Sarajevu, Elektrotehnički fakultet., 808-812.
https://hdl.handle.net/21.15107/rcub_machinery_4222

Bošković M, Šekara T, Mandić P, Lazarević M, Govedarica V. Jedna nova metoda projektovanja PID regulatora primjenom spektra polova i D-razlaganja pod ograničenjima na performanse. in Zbornik radova 14th International Symposium INFOTEH-JAHORINA, 10-20 March 2015.. 2015;:808-812.
https://hdl.handle.net/21.15107/rcub_machinery_4222 .

Bošković, Marko, Šekara, Tomislav, Mandić, Petar, Lazarević, Mihailo, Govedarica, Vidan, "Jedna nova metoda projektovanja PID regulatora primjenom spektra polova i D-razlaganja pod ograničenjima na performanse" in Zbornik radova 14th International Symposium INFOTEH-JAHORINA, 10-20 March 2015. (2015):808-812,
https://hdl.handle.net/21.15107/rcub_machinery_4222 .

TY  - CONF
AU  - Mandić, Petar
AU  - Lazarević, Mihailo
AU  - Šekara, Tomislav
PY  - 2015
UR  - https://machinery.mas.bg.ac.rs/handle/123456789/4179
AB  - This paper deals with stability problem of cart inverted pendulum controlled by
a fractional order PD controller. Inverted pendulum is an underactuated mechanical
system because it has one control input and two degrees of freedom. Mathematical model
of cart pendulum system is derived and fractional order PD controller is introduced in order
to stabilize it. Control strategy consists of two parts, a swing up controller and stabilizing
controller. Problem of asymptotic stability of closed loop system is solved using the D decomposition approach. Stability regions in control parameters space are calculated
using this method, and tuning of the fractional order controller can be carried out.
PB  - Faculty of Mechanical Engineering University of Banja Luka
C3  - Proceedings : 12th International conference on accomplishments in Electrical and Mechanical Engineering and Information Technology (DEMI 2015) Banja Luka, 2015
T1  - Control of the cart pendulum system by using a fractional order PD controller
EP  - 562
SP  - 557
UR  - https://hdl.handle.net/21.15107/rcub_machinery_4179
ER  - 

@conference{
author = "Mandić, Petar and Lazarević, Mihailo and Šekara, Tomislav",
year = "2015",
abstract = "This paper deals with stability problem of cart inverted pendulum controlled by
a fractional order PD controller. Inverted pendulum is an underactuated mechanical
system because it has one control input and two degrees of freedom. Mathematical model
of cart pendulum system is derived and fractional order PD controller is introduced in order
to stabilize it. Control strategy consists of two parts, a swing up controller and stabilizing
controller. Problem of asymptotic stability of closed loop system is solved using the D decomposition approach. Stability regions in control parameters space are calculated
using this method, and tuning of the fractional order controller can be carried out.",
publisher = "Faculty of Mechanical Engineering University of Banja Luka",
journal = "Proceedings : 12th International conference on accomplishments in Electrical and Mechanical Engineering and Information Technology (DEMI 2015) Banja Luka, 2015",
title = "Control of the cart pendulum system by using a fractional order PD controller",
pages = "562-557",
url = "https://hdl.handle.net/21.15107/rcub_machinery_4179"
}

Mandić, P., Lazarević, M.,& Šekara, T.. (2015). Control of the cart pendulum system by using a fractional order PD controller. in Proceedings : 12th International conference on accomplishments in Electrical and Mechanical Engineering and Information Technology (DEMI 2015) Banja Luka, 2015
Faculty of Mechanical Engineering University of Banja Luka., 557-562.
https://hdl.handle.net/21.15107/rcub_machinery_4179

Mandić P, Lazarević M, Šekara T. Control of the cart pendulum system by using a fractional order PD controller. in Proceedings : 12th International conference on accomplishments in Electrical and Mechanical Engineering and Information Technology (DEMI 2015) Banja Luka, 2015. 2015;:557-562.
https://hdl.handle.net/21.15107/rcub_machinery_4179 .

Mandić, Petar, Lazarević, Mihailo, Šekara, Tomislav, "Control of the cart pendulum system by using a fractional order PD controller" in Proceedings : 12th International conference on accomplishments in Electrical and Mechanical Engineering and Information Technology (DEMI 2015) Banja Luka, 2015 (2015):557-562,
https://hdl.handle.net/21.15107/rcub_machinery_4179 .

TY  - CHAP
AU  - Lazarević, Mihailo
AU  - Rapaić, Milan
AU  - Šekara, Tomislav
PY  - 2014
UR  - https://machinery.mas.bg.ac.rs/handle/123456789/6683
AB  - The Fractional Calculus (FC) is a generalization of classical calculus concerned with operations of
integration and differentiation of non-integer (fractional) order. The concept of fractional operators has been introduced almost simultaneously with the development of the classical ones. The first known reference can be found in the correspondence of G. W. Leibniz and Marquis de l’Hospital in 1695 where the question of meaning of the semi-derivative has been raised. This question consequently attracted the interest of many wellknown mathematicians, including Euler, Liouville, Laplace, Riemann, Grünwald, Letnikov and many others. Since the 19th century, the theory of fractional calculus developed rapidly, mostly as a foundation for a number of applied disciplines, including fractional geometry, fractional differential equations (FDE) and fractional dynamics. The applications of FC are very wide nowadays. It is safe to say that almost no discipline of modern engineering and science in general, remains untouched by the tools and techniques of fractional calculus. For example, wide and fruitful applications can be found in rheology, viscoelasticity, acoustics, optics, chemical and statistical physics, robotics, control theory, electrical and mechanical engineering, bioengineering, etc..In fact, one could argue that real world processes are fractional order systems in general. The main reason for the success of FC applications is that these new fractional-order models are often more accurate than integer-order ones, i.e. there are more degrees of freedom in the fractional order model than in the corresponding classical one. One of the intriguing beauties of the subject is that fractional derivatives (and integrals) are not a local (or point) quantities. All fractional operators consider the entire history of the process being considered, thus being able to model the non-local and distributed effects often encountered in natural and technical phenomena.  Fractional calculus is therefore an excellent set of tools for describing the memory and hereditary properties of various materials and processes.
PB  - WSEAS Press
T2  - Advanced Topics on Applications of Fractional Calculus on Control Problems, System Stability And Modeling
T1  - Introduction to Fractional Calculus with Brief Historical Background
EP  - 16
SP  - 3
UR  - https://hdl.handle.net/21.15107/rcub_machinery_6683
ER  - 

@inbook{
author = "Lazarević, Mihailo and Rapaić, Milan and Šekara, Tomislav",
year = "2014",
abstract = "The Fractional Calculus (FC) is a generalization of classical calculus concerned with operations of
integration and differentiation of non-integer (fractional) order. The concept of fractional operators has been introduced almost simultaneously with the development of the classical ones. The first known reference can be found in the correspondence of G. W. Leibniz and Marquis de l’Hospital in 1695 where the question of meaning of the semi-derivative has been raised. This question consequently attracted the interest of many wellknown mathematicians, including Euler, Liouville, Laplace, Riemann, Grünwald, Letnikov and many others. Since the 19th century, the theory of fractional calculus developed rapidly, mostly as a foundation for a number of applied disciplines, including fractional geometry, fractional differential equations (FDE) and fractional dynamics. The applications of FC are very wide nowadays. It is safe to say that almost no discipline of modern engineering and science in general, remains untouched by the tools and techniques of fractional calculus. For example, wide and fruitful applications can be found in rheology, viscoelasticity, acoustics, optics, chemical and statistical physics, robotics, control theory, electrical and mechanical engineering, bioengineering, etc..In fact, one could argue that real world processes are fractional order systems in general. The main reason for the success of FC applications is that these new fractional-order models are often more accurate than integer-order ones, i.e. there are more degrees of freedom in the fractional order model than in the corresponding classical one. One of the intriguing beauties of the subject is that fractional derivatives (and integrals) are not a local (or point) quantities. All fractional operators consider the entire history of the process being considered, thus being able to model the non-local and distributed effects often encountered in natural and technical phenomena.  Fractional calculus is therefore an excellent set of tools for describing the memory and hereditary properties of various materials and processes.",
publisher = "WSEAS Press",
journal = "Advanced Topics on Applications of Fractional Calculus on Control Problems, System Stability And Modeling",
booktitle = "Introduction to Fractional Calculus with Brief Historical Background",
pages = "16-3",
url = "https://hdl.handle.net/21.15107/rcub_machinery_6683"
}

Lazarević, M., Rapaić, M.,& Šekara, T.. (2014). Introduction to Fractional Calculus with Brief Historical Background. in Advanced Topics on Applications of Fractional Calculus on Control Problems, System Stability And Modeling
WSEAS Press., 3-16.
https://hdl.handle.net/21.15107/rcub_machinery_6683

Lazarević M, Rapaić M, Šekara T. Introduction to Fractional Calculus with Brief Historical Background. in Advanced Topics on Applications of Fractional Calculus on Control Problems, System Stability And Modeling. 2014;:3-16.
https://hdl.handle.net/21.15107/rcub_machinery_6683 .

Lazarević, Mihailo, Rapaić, Milan, Šekara, Tomislav, "Introduction to Fractional Calculus with Brief Historical Background" in Advanced Topics on Applications of Fractional Calculus on Control Problems, System Stability And Modeling (2014):3-16,
https://hdl.handle.net/21.15107/rcub_machinery_6683 .

TY  - CONF
AU  - Mandić, Petar
AU  - Lazarević, Mihailo
AU  - Šekara, Tomislav
PY  - 2014
UR  - https://machinery.mas.bg.ac.rs/handle/123456789/4274
AB  - This paper deals with stability problem of inverted
pendulum controlled by a fractional order PD controller. Ddecomposition
method for determining stability region in controller parameters space is hereby presented. 
The D decomposition problem for linear systems is extended for linear
fractional systems and for the case of linear parameters
dependence. Knowledge of stability regions enables tuning of the
fractional order PD controller.
PB  - Belgrade : ETRAN Society
C3  - Proceedings of  1st International Conference on Electrical, Electronic and Computing Engineering Vrnjačka Banja, Serbia, June 2 – 5, 2014,IcETRAN 2014
T1  - D-decomposition method for stabilization of inverted pendulum using fractional order PD controller
EP  - 6
SP  - 1
UR  - https://hdl.handle.net/21.15107/rcub_machinery_4274
ER  - 

@conference{
author = "Mandić, Petar and Lazarević, Mihailo and Šekara, Tomislav",
year = "2014",
abstract = "This paper deals with stability problem of inverted
pendulum controlled by a fractional order PD controller. Ddecomposition
method for determining stability region in controller parameters space is hereby presented. 
The D decomposition problem for linear systems is extended for linear
fractional systems and for the case of linear parameters
dependence. Knowledge of stability regions enables tuning of the
fractional order PD controller.",
publisher = "Belgrade : ETRAN Society",
journal = "Proceedings of  1st International Conference on Electrical, Electronic and Computing Engineering Vrnjačka Banja, Serbia, June 2 – 5, 2014,IcETRAN 2014",
title = "D-decomposition method for stabilization of inverted pendulum using fractional order PD controller",
pages = "6-1",
url = "https://hdl.handle.net/21.15107/rcub_machinery_4274"
}

Mandić, P., Lazarević, M.,& Šekara, T.. (2014). D-decomposition method for stabilization of inverted pendulum using fractional order PD controller. in Proceedings of  1st International Conference on Electrical, Electronic and Computing Engineering Vrnjačka Banja, Serbia, June 2 – 5, 2014,IcETRAN 2014
Belgrade : ETRAN Society., 1-6.
https://hdl.handle.net/21.15107/rcub_machinery_4274

Mandić P, Lazarević M, Šekara T. D-decomposition method for stabilization of inverted pendulum using fractional order PD controller. in Proceedings of  1st International Conference on Electrical, Electronic and Computing Engineering Vrnjačka Banja, Serbia, June 2 – 5, 2014,IcETRAN 2014. 2014;:1-6.
https://hdl.handle.net/21.15107/rcub_machinery_4274 .

Mandić, Petar, Lazarević, Mihailo, Šekara, Tomislav, "D-decomposition method for stabilization of inverted pendulum using fractional order PD controller" in Proceedings of  1st International Conference on Electrical, Electronic and Computing Engineering Vrnjačka Banja, Serbia, June 2 – 5, 2014,IcETRAN 2014 (2014):1-6,
https://hdl.handle.net/21.15107/rcub_machinery_4274 .

TY  - CONF
AU  - Šekara, Tomislav
AU  - Rapaić, Milan
AU  - Lazarević, Mihailo
PY  - 2012
UR  - https://machinery.mas.bg.ac.rs/handle/123456789/4664
AB  - A method for discretization of linear fractional order systems (LFOS) is presented. Basically, the method makes use of rational approximation of the transfer function of a fractional system. In this way standard discretization techniques for discretization of LFOS can be applied. An adequate comparative analysis has also been carried out through corresponding examples by applying
several other known discretization methods.
PB  - Banja Luka : Faculty of electrical engineering, Republic of Srpska, BiH
C3  - Symposium Proceedings INDEL 2012, IX Symposium INDUSTRIAL ELECTRONICS,  Banja Luka, 2012, November 1-3 Republika Srpska, BiH
T1  - Indirect application of a method for discretization of linear fractional order systems
EP  - 44
SP  - 40
UR  - https://hdl.handle.net/21.15107/rcub_machinery_4664
ER  - 

@conference{
author = "Šekara, Tomislav and Rapaić, Milan and Lazarević, Mihailo",
year = "2012",
abstract = "A method for discretization of linear fractional order systems (LFOS) is presented. Basically, the method makes use of rational approximation of the transfer function of a fractional system. In this way standard discretization techniques for discretization of LFOS can be applied. An adequate comparative analysis has also been carried out through corresponding examples by applying
several other known discretization methods.",
publisher = "Banja Luka : Faculty of electrical engineering, Republic of Srpska, BiH",
journal = "Symposium Proceedings INDEL 2012, IX Symposium INDUSTRIAL ELECTRONICS,  Banja Luka, 2012, November 1-3 Republika Srpska, BiH",
title = "Indirect application of a method for discretization of linear fractional order systems",
pages = "44-40",
url = "https://hdl.handle.net/21.15107/rcub_machinery_4664"
}

Šekara, T., Rapaić, M.,& Lazarević, M.. (2012). Indirect application of a method for discretization of linear fractional order systems. in Symposium Proceedings INDEL 2012, IX Symposium INDUSTRIAL ELECTRONICS,  Banja Luka, 2012, November 1-3 Republika Srpska, BiH
Banja Luka : Faculty of electrical engineering, Republic of Srpska, BiH., 40-44.
https://hdl.handle.net/21.15107/rcub_machinery_4664

Šekara T, Rapaić M, Lazarević M. Indirect application of a method for discretization of linear fractional order systems. in Symposium Proceedings INDEL 2012, IX Symposium INDUSTRIAL ELECTRONICS,  Banja Luka, 2012, November 1-3 Republika Srpska, BiH. 2012;:40-44.
https://hdl.handle.net/21.15107/rcub_machinery_4664 .

Šekara, Tomislav, Rapaić, Milan, Lazarević, Mihailo, "Indirect application of a method for discretization of linear fractional order systems" in Symposium Proceedings INDEL 2012, IX Symposium INDUSTRIAL ELECTRONICS,  Banja Luka, 2012, November 1-3 Republika Srpska, BiH (2012):40-44,
https://hdl.handle.net/21.15107/rcub_machinery_4664 .