Sekara, Tomislav B.

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Authority KeyName Variants
orcid::0000-0001-8031-3135
  • Sekara, Tomislav B. (15)
Projects
Energy efficiency Improvement of Hydro and Thermal power plants in EPS by development and implementation of power electronics based regulation and automation equipment Sustainability and improvement of mechanical systems in energetic, material handling and conveying by using forensic engineering, environmental and robust design
Intelligent Control Systems of the Air-conditioning for the Purpose of Achieving Energy Efficient Exploitation Regimes in the Complex Operating Conditions Dynamics of hybrid systems with complex structures. Mechanics of materials.
Development of methods and techniques for early diagnostic of cervical, colon, oral cavity cancer and melanoma based on a digital image and excitation-emission spectrum in visible and infrared domain Inteligent SCADA system for early fault detection and error compensation in processes and equipment in process industry
Development of intelligent monitoring control system to increase energy efficiency in buildings Serbia-China bilateral project [3-12
COST (European Cooperation in Science and Technology) [CA15225] Dynamic stability and instability of mechanical systems subjected to stochastic excitations
Ministry of Education, Science and Technological Development, Republic of Serbia, Grant no. 200105 (University of Belgrade, Faculty of Mechanical Engineering) Serbia-Italian bilateral project ADFOCMEDER
Serbia-Italy bilateral project "Advanced Robust Fractional Order Control of Dynamical Systems: New Methods for Design and Realization ADFOCMEDER"

Author's Bibliography

A new optimisation method of PIDC controller under constraints on robustness and sensitivity to measurement noise using amplitude optimum principle

Mandić, Petar; Bošković, Marko C.; Sekara, Tomislav B.; Lazarević, Mihailo

(Taylor & Francis Ltd, Abingdon, 2021)

TY  - JOUR
AU  - Mandić, Petar
AU  - Bošković, Marko C.
AU  - Sekara, Tomislav B.
AU  - Lazarević, Mihailo
PY  - 2021
UR  - https://machinery.mas.bg.ac.rs/handle/123456789/90
AB  - This paper presents a new optimisation method for PID controller cascaded with a lead-lag compensator (PIDC). Parameters of the controller are obtained by solving the constrained optimisation problem. We propose two variants of the optimality criterion. The first one is defined through the max-min optimisation problem wherein objective function is the amplitude frequency response of the PIDC controller. The second one is based on an effective approximation of the minimum value of the amplitude frequency response of the PIDC controller. Consequently, we obtain a computationally less expensive problem. Both variants of optimality criterion result in efficient load disturbance and noise rejection, while robustness is ensured by constraining the value of the maximum sensitivity Ms. Good reference shaping is supported with proper constraints based on the Amplitude Optimum (AO) principle. Numerous batches of processes typically encountered in the industry are used to demonstrate the effectiveness of the proposed design method.
PB  - Taylor & Francis Ltd, Abingdon
T2  - International Journal of Control
T1  - A new optimisation method of PIDC controller under constraints on robustness and sensitivity to measurement noise using amplitude optimum principle
DO  - 10.1080/00207179.2021.1912392
ER  - 
@article{
author = "Mandić, Petar and Bošković, Marko C. and Sekara, Tomislav B. and Lazarević, Mihailo",
year = "2021",
abstract = "This paper presents a new optimisation method for PID controller cascaded with a lead-lag compensator (PIDC). Parameters of the controller are obtained by solving the constrained optimisation problem. We propose two variants of the optimality criterion. The first one is defined through the max-min optimisation problem wherein objective function is the amplitude frequency response of the PIDC controller. The second one is based on an effective approximation of the minimum value of the amplitude frequency response of the PIDC controller. Consequently, we obtain a computationally less expensive problem. Both variants of optimality criterion result in efficient load disturbance and noise rejection, while robustness is ensured by constraining the value of the maximum sensitivity Ms. Good reference shaping is supported with proper constraints based on the Amplitude Optimum (AO) principle. Numerous batches of processes typically encountered in the industry are used to demonstrate the effectiveness of the proposed design method.",
publisher = "Taylor & Francis Ltd, Abingdon",
journal = "International Journal of Control",
title = "A new optimisation method of PIDC controller under constraints on robustness and sensitivity to measurement noise using amplitude optimum principle",
doi = "10.1080/00207179.2021.1912392"
}
Mandić, P., Bošković, M. C., Sekara, T. B.,& Lazarević, M.. (2021). A new optimisation method of PIDC controller under constraints on robustness and sensitivity to measurement noise using amplitude optimum principle. in International Journal of Control
Taylor & Francis Ltd, Abingdon..
https://doi.org/10.1080/00207179.2021.1912392
Mandić P, Bošković MC, Sekara TB, Lazarević M. A new optimisation method of PIDC controller under constraints on robustness and sensitivity to measurement noise using amplitude optimum principle. in International Journal of Control. 2021;.
doi:10.1080/00207179.2021.1912392 .
Mandić, Petar, Bošković, Marko C., Sekara, Tomislav B., Lazarević, Mihailo, "A new optimisation method of PIDC controller under constraints on robustness and sensitivity to measurement noise using amplitude optimum principle" in International Journal of Control (2021),
https://doi.org/10.1080/00207179.2021.1912392 . .
9
4

Design of Fractional-Order Lag Network and Fractional-Order PI Controller for a Robotic Manipulator

Mandić, Petar; Lino, Paolo; Maione, Guido; Lazarević, Mihailo; Sekara, Tomislav B.

(Elsevier, Amsterdam, 2020)

TY  - CONF
AU  - Mandić, Petar
AU  - Lino, Paolo
AU  - Maione, Guido
AU  - Lazarević, Mihailo
AU  - Sekara, Tomislav B.
PY  - 2020
UR  - https://machinery.mas.bg.ac.rs/handle/123456789/3348
AB  - Motion control of robotic manipulators is frequently realized by independent control of the DC motors actuating robot joints. Namely, nonlinearities, coupling between actuators and other complex dynamics are neglected if high gear ratios between the actuators and robot joints are considered. This paper proposes a fractional-order lag network or a fractional-order PI controller to control the position of the actuators shafts. The introduced fractional compensators are designed by using the symmetrical optimum principle and by parameters optimization or by frequency-domain loop shaping, respectively. Simulation results and frequency response show effectiveness and robustness of the approach.
PB  - Elsevier, Amsterdam
C3  - IFAC PAPERSONLINE
T1  - Design of Fractional-Order Lag Network and Fractional-Order PI Controller for a Robotic Manipulator
EP  - 3674
IS  - 2
SP  - 3669
VL  - 53
DO  - 10.1016/j.ifacol.2020.12.2050
ER  - 
@conference{
author = "Mandić, Petar and Lino, Paolo and Maione, Guido and Lazarević, Mihailo and Sekara, Tomislav B.",
year = "2020",
abstract = "Motion control of robotic manipulators is frequently realized by independent control of the DC motors actuating robot joints. Namely, nonlinearities, coupling between actuators and other complex dynamics are neglected if high gear ratios between the actuators and robot joints are considered. This paper proposes a fractional-order lag network or a fractional-order PI controller to control the position of the actuators shafts. The introduced fractional compensators are designed by using the symmetrical optimum principle and by parameters optimization or by frequency-domain loop shaping, respectively. Simulation results and frequency response show effectiveness and robustness of the approach.",
publisher = "Elsevier, Amsterdam",
journal = "IFAC PAPERSONLINE",
title = "Design of Fractional-Order Lag Network and Fractional-Order PI Controller for a Robotic Manipulator",
pages = "3674-3669",
number = "2",
volume = "53",
doi = "10.1016/j.ifacol.2020.12.2050"
}
Mandić, P., Lino, P., Maione, G., Lazarević, M.,& Sekara, T. B.. (2020). Design of Fractional-Order Lag Network and Fractional-Order PI Controller for a Robotic Manipulator. in IFAC PAPERSONLINE
Elsevier, Amsterdam., 53(2), 3669-3674.
https://doi.org/10.1016/j.ifacol.2020.12.2050
Mandić P, Lino P, Maione G, Lazarević M, Sekara TB. Design of Fractional-Order Lag Network and Fractional-Order PI Controller for a Robotic Manipulator. in IFAC PAPERSONLINE. 2020;53(2):3669-3674.
doi:10.1016/j.ifacol.2020.12.2050 .
Mandić, Petar, Lino, Paolo, Maione, Guido, Lazarević, Mihailo, Sekara, Tomislav B., "Design of Fractional-Order Lag Network and Fractional-Order PI Controller for a Robotic Manipulator" in IFAC PAPERSONLINE, 53, no. 2 (2020):3669-3674,
https://doi.org/10.1016/j.ifacol.2020.12.2050 . .
1

On the Rational Representation of Fractional Order Lead Compensator using Pade Approximation

Bošković, Marko C.; Rapaić, Milan R.; Sekara, Tomislav B.; Mandić, Petar; Lazarević, Mihailo; Cvetković, Boško; Lutovac, Budimir; Daković, Miloš

(IEEE, New York, 2018)

TY  - CONF
AU  - Bošković, Marko C.
AU  - Rapaić, Milan R.
AU  - Sekara, Tomislav B.
AU  - Mandić, Petar
AU  - Lazarević, Mihailo
AU  - Cvetković, Boško
AU  - Lutovac, Budimir
AU  - Daković, Miloš
PY  - 2018
UR  - https://machinery.mas.bg.ac.rs/handle/123456789/2921
AB  - This paper presents simple, flexible and effective approximation method for fractional order lead-lag compensators. The proposed method relies on a Pade approximation of linear fractional order transfer functions, giving rational approximations of order N accurate enough for control applications as soon as N is greater than 2 or 3. An example of feedback loop incorporating this approximation is adopted from the well-known car suspension problem, wherein an iso-damping property of the closed loop response is achieved, with regard to a variation of the vehicle mass.
PB  - IEEE, New York
C3  - 2018 7th Mediterranean Conference on Embedded Computing (Meco)
T1  - On the Rational Representation of Fractional Order Lead Compensator using Pade Approximation
EP  - 475
SP  - 472
DO  - 10.1109/MECO.2018.8405969
UR  - https://hdl.handle.net/21.15107/rcub_machinery_2921
ER  - 
@conference{
author = "Bošković, Marko C. and Rapaić, Milan R. and Sekara, Tomislav B. and Mandić, Petar and Lazarević, Mihailo and Cvetković, Boško and Lutovac, Budimir and Daković, Miloš",
year = "2018",
abstract = "This paper presents simple, flexible and effective approximation method for fractional order lead-lag compensators. The proposed method relies on a Pade approximation of linear fractional order transfer functions, giving rational approximations of order N accurate enough for control applications as soon as N is greater than 2 or 3. An example of feedback loop incorporating this approximation is adopted from the well-known car suspension problem, wherein an iso-damping property of the closed loop response is achieved, with regard to a variation of the vehicle mass.",
publisher = "IEEE, New York",
journal = "2018 7th Mediterranean Conference on Embedded Computing (Meco)",
title = "On the Rational Representation of Fractional Order Lead Compensator using Pade Approximation",
pages = "475-472",
doi = "10.1109/MECO.2018.8405969",
url = "https://hdl.handle.net/21.15107/rcub_machinery_2921"
}
Bošković, M. C., Rapaić, M. R., Sekara, T. B., Mandić, P., Lazarević, M., Cvetković, B., Lutovac, B.,& Daković, M.. (2018). On the Rational Representation of Fractional Order Lead Compensator using Pade Approximation. in 2018 7th Mediterranean Conference on Embedded Computing (Meco)
IEEE, New York., 472-475.
https://doi.org/10.1109/MECO.2018.8405969
https://hdl.handle.net/21.15107/rcub_machinery_2921
Bošković MC, Rapaić MR, Sekara TB, Mandić P, Lazarević M, Cvetković B, Lutovac B, Daković M. On the Rational Representation of Fractional Order Lead Compensator using Pade Approximation. in 2018 7th Mediterranean Conference on Embedded Computing (Meco). 2018;:472-475.
doi:10.1109/MECO.2018.8405969
https://hdl.handle.net/21.15107/rcub_machinery_2921 .
Bošković, Marko C., Rapaić, Milan R., Sekara, Tomislav B., Mandić, Petar, Lazarević, Mihailo, Cvetković, Boško, Lutovac, Budimir, Daković, Miloš, "On the Rational Representation of Fractional Order Lead Compensator using Pade Approximation" in 2018 7th Mediterranean Conference on Embedded Computing (Meco) (2018):472-475,
https://doi.org/10.1109/MECO.2018.8405969 .,
https://hdl.handle.net/21.15107/rcub_machinery_2921 .
11
11

Multi-mode Active Vibration Control of a Nanobeam using a non-square MIMO PID controller

Lazarević, Mihailo; Cajić, Milan; Mandić, Petar; Sekara, Tomislav B.; Sun, HongGuang; Karličić, Danilo

(Institute of Electrical and Electronics Engineers Inc., 2017)

TY  - CONF
AU  - Lazarević, Mihailo
AU  - Cajić, Milan
AU  - Mandić, Petar
AU  - Sekara, Tomislav B.
AU  - Sun, HongGuang
AU  - Karličić, Danilo
PY  - 2017
UR  - https://machinery.mas.bg.ac.rs/handle/123456789/2702
AB  - In this paper, we suggest a robust non-square MIMO (4x8) PID controller for the multi-mode active vibration damping of a nanobeam. Nanobeam is modeled by using the nonlocal continuum theory of Eringen to consider the small-scale effects and Euler-Bernoulli beam theory. The problem is analyzed for the free vibration case with Heaviside type disturbance of a nanobeam with and without the controller. The proposed system has four inputs and eight outputs, where by using the static decoupling method, decoupled system of four transfer functions is obtained. The controller parameters dependig on one tuning parmeter are designed to suppress the step disturbance on the input without overshooting. All theoretical results are verified with several numerical examples.
PB  - Institute of Electrical and Electronics Engineers Inc.
C3  - Proceedings of the 29th Chinese Control and Decision Conference, CCDC 2017
T1  - Multi-mode Active Vibration Control of a Nanobeam using a non-square MIMO PID controller
EP  - 62
SP  - 57
DO  - 10.1109/CCDC.2017.7978066
ER  - 
@conference{
author = "Lazarević, Mihailo and Cajić, Milan and Mandić, Petar and Sekara, Tomislav B. and Sun, HongGuang and Karličić, Danilo",
year = "2017",
abstract = "In this paper, we suggest a robust non-square MIMO (4x8) PID controller for the multi-mode active vibration damping of a nanobeam. Nanobeam is modeled by using the nonlocal continuum theory of Eringen to consider the small-scale effects and Euler-Bernoulli beam theory. The problem is analyzed for the free vibration case with Heaviside type disturbance of a nanobeam with and without the controller. The proposed system has four inputs and eight outputs, where by using the static decoupling method, decoupled system of four transfer functions is obtained. The controller parameters dependig on one tuning parmeter are designed to suppress the step disturbance on the input without overshooting. All theoretical results are verified with several numerical examples.",
publisher = "Institute of Electrical and Electronics Engineers Inc.",
journal = "Proceedings of the 29th Chinese Control and Decision Conference, CCDC 2017",
title = "Multi-mode Active Vibration Control of a Nanobeam using a non-square MIMO PID controller",
pages = "62-57",
doi = "10.1109/CCDC.2017.7978066"
}
Lazarević, M., Cajić, M., Mandić, P., Sekara, T. B., Sun, H.,& Karličić, D.. (2017). Multi-mode Active Vibration Control of a Nanobeam using a non-square MIMO PID controller. in Proceedings of the 29th Chinese Control and Decision Conference, CCDC 2017
Institute of Electrical and Electronics Engineers Inc.., 57-62.
https://doi.org/10.1109/CCDC.2017.7978066
Lazarević M, Cajić M, Mandić P, Sekara TB, Sun H, Karličić D. Multi-mode Active Vibration Control of a Nanobeam using a non-square MIMO PID controller. in Proceedings of the 29th Chinese Control and Decision Conference, CCDC 2017. 2017;:57-62.
doi:10.1109/CCDC.2017.7978066 .
Lazarević, Mihailo, Cajić, Milan, Mandić, Petar, Sekara, Tomislav B., Sun, HongGuang, Karličić, Danilo, "Multi-mode Active Vibration Control of a Nanobeam using a non-square MIMO PID controller" in Proceedings of the 29th Chinese Control and Decision Conference, CCDC 2017 (2017):57-62,
https://doi.org/10.1109/CCDC.2017.7978066 . .
1

Stabilization of Inverted Pendulum by Fractional Order PD Controller with Experimental Validation: D-decomposition Approach

Mandić, Petar; Lazarević, Mihailo; Sekara, Tomislav B.

(Springer International Publishing Ag, Cham, 2017)

TY  - CONF
AU  - Mandić, Petar
AU  - Lazarević, Mihailo
AU  - Sekara, Tomislav B.
PY  - 2017
UR  - https://machinery.mas.bg.ac.rs/handle/123456789/2649
AB  - This paper deals with the stability problem of two types of inverted pendulum controlled by a fractional order PD controller. Rotational inverted pendulum and cart inverted pendulum are under-actuated mechanical systems with two degrees of freedom and one control input. Detailed mathematical models of both pendulums are derived using the Rodriguez method. Fractional order PD controller is introduced for inverted pendulum stabilization. Stability regions in control parameters space are calculated using the D-decomposition approach, based on which tuning of the fractional order controller can be carried out. Numerical simulations and experimental realization are given to demonstrate the effectiveness of the proposed method.
PB  - Springer International Publishing Ag, Cham
C3  - Advances in Robot Design and Intelligent Control
T1  - Stabilization of Inverted Pendulum by Fractional Order PD Controller with Experimental Validation: D-decomposition Approach
EP  - 37
SP  - 29
VL  - 540
DO  - 10.1007/978-3-319-49058-8_4
ER  - 
@conference{
author = "Mandić, Petar and Lazarević, Mihailo and Sekara, Tomislav B.",
year = "2017",
abstract = "This paper deals with the stability problem of two types of inverted pendulum controlled by a fractional order PD controller. Rotational inverted pendulum and cart inverted pendulum are under-actuated mechanical systems with two degrees of freedom and one control input. Detailed mathematical models of both pendulums are derived using the Rodriguez method. Fractional order PD controller is introduced for inverted pendulum stabilization. Stability regions in control parameters space are calculated using the D-decomposition approach, based on which tuning of the fractional order controller can be carried out. Numerical simulations and experimental realization are given to demonstrate the effectiveness of the proposed method.",
publisher = "Springer International Publishing Ag, Cham",
journal = "Advances in Robot Design and Intelligent Control",
title = "Stabilization of Inverted Pendulum by Fractional Order PD Controller with Experimental Validation: D-decomposition Approach",
pages = "37-29",
volume = "540",
doi = "10.1007/978-3-319-49058-8_4"
}
Mandić, P., Lazarević, M.,& Sekara, T. B.. (2017). Stabilization of Inverted Pendulum by Fractional Order PD Controller with Experimental Validation: D-decomposition Approach. in Advances in Robot Design and Intelligent Control
Springer International Publishing Ag, Cham., 540, 29-37.
https://doi.org/10.1007/978-3-319-49058-8_4
Mandić P, Lazarević M, Sekara TB. Stabilization of Inverted Pendulum by Fractional Order PD Controller with Experimental Validation: D-decomposition Approach. in Advances in Robot Design and Intelligent Control. 2017;540:29-37.
doi:10.1007/978-3-319-49058-8_4 .
Mandić, Petar, Lazarević, Mihailo, Sekara, Tomislav B., "Stabilization of Inverted Pendulum by Fractional Order PD Controller with Experimental Validation: D-decomposition Approach" in Advances in Robot Design and Intelligent Control, 540 (2017):29-37,
https://doi.org/10.1007/978-3-319-49058-8_4 . .
4
1
2

Stabilization of Double Inverted Pendulum System by Using a Fractional Differential Compensator

Mandić, Petar; Lazarević, Mihailo; Sekara, Tomislav B.; Cajić, Milan; Bučanović, Ljubiša

(Institute of Electrical and Electronics Engineers Inc., 2017)

TY  - CONF
AU  - Mandić, Petar
AU  - Lazarević, Mihailo
AU  - Sekara, Tomislav B.
AU  - Cajić, Milan
AU  - Bučanović, Ljubiša
PY  - 2017
UR  - https://machinery.mas.bg.ac.rs/handle/123456789/2693
AB  - In this paper stability problem of double inverted pendulum controlled by a fractional differential compensator is investigated. Pendubot is an underactuated mechanical system, i.e. it has only one control input and two degrees of freedom. Detailed mathematical model of Pendubot is derived using the Rodriguez method and then fractional order lead compensator is introduced in order to stabilize it around unstable upright position. D-decomposition method is used to solve the problem of asymptotic stability of closed loop system. Stability regions in control parameters space are calculated using this technique, which allows tuning of the fractional differential compensator to be carried out.
PB  - Institute of Electrical and Electronics Engineers Inc.
C3  - Proceedings of the 29th Chinese Control and Decision Conference, CCDC 2017
T1  - Stabilization of Double Inverted Pendulum System by Using a Fractional Differential Compensator
EP  - 1916
SP  - 1911
DO  - 10.1109/CCDC.2017.7978829
ER  - 
@conference{
author = "Mandić, Petar and Lazarević, Mihailo and Sekara, Tomislav B. and Cajić, Milan and Bučanović, Ljubiša",
year = "2017",
abstract = "In this paper stability problem of double inverted pendulum controlled by a fractional differential compensator is investigated. Pendubot is an underactuated mechanical system, i.e. it has only one control input and two degrees of freedom. Detailed mathematical model of Pendubot is derived using the Rodriguez method and then fractional order lead compensator is introduced in order to stabilize it around unstable upright position. D-decomposition method is used to solve the problem of asymptotic stability of closed loop system. Stability regions in control parameters space are calculated using this technique, which allows tuning of the fractional differential compensator to be carried out.",
publisher = "Institute of Electrical and Electronics Engineers Inc.",
journal = "Proceedings of the 29th Chinese Control and Decision Conference, CCDC 2017",
title = "Stabilization of Double Inverted Pendulum System by Using a Fractional Differential Compensator",
pages = "1916-1911",
doi = "10.1109/CCDC.2017.7978829"
}
Mandić, P., Lazarević, M., Sekara, T. B., Cajić, M.,& Bučanović, L.. (2017). Stabilization of Double Inverted Pendulum System by Using a Fractional Differential Compensator. in Proceedings of the 29th Chinese Control and Decision Conference, CCDC 2017
Institute of Electrical and Electronics Engineers Inc.., 1911-1916.
https://doi.org/10.1109/CCDC.2017.7978829
Mandić P, Lazarević M, Sekara TB, Cajić M, Bučanović L. Stabilization of Double Inverted Pendulum System by Using a Fractional Differential Compensator. in Proceedings of the 29th Chinese Control and Decision Conference, CCDC 2017. 2017;:1911-1916.
doi:10.1109/CCDC.2017.7978829 .
Mandić, Petar, Lazarević, Mihailo, Sekara, Tomislav B., Cajić, Milan, Bučanović, Ljubiša, "Stabilization of Double Inverted Pendulum System by Using a Fractional Differential Compensator" in Proceedings of the 29th Chinese Control and Decision Conference, CCDC 2017 (2017):1911-1916,
https://doi.org/10.1109/CCDC.2017.7978829 . .
5
5

Analysis of Electrical Circuits Including Fractional Order Elements

Bošković, Marko C.; Sekara, Tomislav B.; Lutovac, Budimir; Daković, Miloš; Mandić, Petar; Lazarević, Mihailo

(IEEE, New York, 2017)

TY  - CONF
AU  - Bošković, Marko C.
AU  - Sekara, Tomislav B.
AU  - Lutovac, Budimir
AU  - Daković, Miloš
AU  - Mandić, Petar
AU  - Lazarević, Mihailo
PY  - 2017
UR  - https://machinery.mas.bg.ac.rs/handle/123456789/2534
AB  - This paper deals with the analysis of electrical circuits with classical one-port elements including two novel defined one-port fractional order elements: fractional-order resistive-capacitive RC-alpha and fractional-order inductive RL-alpha element. The definitions and analytical relations between current, voltage and power of introduced fractional elements are provided. An example of fractional element realization via ladder electrical circuit composed of classical resistors, capacitors and/or inductors is presented. Several examples are analyzed to illustrate he behavior of electrical circuit with fractional order elements for different values of fractional order alpha including differentiator/integrator circuits as well as complex circuits without accumulated energy.
PB  - IEEE, New York
C3  - 2017 6th Mediterranean Conference on Embedded Computing (Meco)
T1  - Analysis of Electrical Circuits Including Fractional Order Elements
EP  - 319
SP  - 314
DO  - 10.1109/MECO.2017.7977226
ER  - 
@conference{
author = "Bošković, Marko C. and Sekara, Tomislav B. and Lutovac, Budimir and Daković, Miloš and Mandić, Petar and Lazarević, Mihailo",
year = "2017",
abstract = "This paper deals with the analysis of electrical circuits with classical one-port elements including two novel defined one-port fractional order elements: fractional-order resistive-capacitive RC-alpha and fractional-order inductive RL-alpha element. The definitions and analytical relations between current, voltage and power of introduced fractional elements are provided. An example of fractional element realization via ladder electrical circuit composed of classical resistors, capacitors and/or inductors is presented. Several examples are analyzed to illustrate he behavior of electrical circuit with fractional order elements for different values of fractional order alpha including differentiator/integrator circuits as well as complex circuits without accumulated energy.",
publisher = "IEEE, New York",
journal = "2017 6th Mediterranean Conference on Embedded Computing (Meco)",
title = "Analysis of Electrical Circuits Including Fractional Order Elements",
pages = "319-314",
doi = "10.1109/MECO.2017.7977226"
}
Bošković, M. C., Sekara, T. B., Lutovac, B., Daković, M., Mandić, P.,& Lazarević, M.. (2017). Analysis of Electrical Circuits Including Fractional Order Elements. in 2017 6th Mediterranean Conference on Embedded Computing (Meco)
IEEE, New York., 314-319.
https://doi.org/10.1109/MECO.2017.7977226
Bošković MC, Sekara TB, Lutovac B, Daković M, Mandić P, Lazarević M. Analysis of Electrical Circuits Including Fractional Order Elements. in 2017 6th Mediterranean Conference on Embedded Computing (Meco). 2017;:314-319.
doi:10.1109/MECO.2017.7977226 .
Bošković, Marko C., Sekara, Tomislav B., Lutovac, Budimir, Daković, Miloš, Mandić, Petar, Lazarević, Mihailo, "Analysis of Electrical Circuits Including Fractional Order Elements" in 2017 6th Mediterranean Conference on Embedded Computing (Meco) (2017):314-319,
https://doi.org/10.1109/MECO.2017.7977226 . .
21
18

Dominant pole placement with fractional order PID controllers: D-decomposition approach

Mandić, Petar; Sekara, Tomislav B.; Lazarević, Mihailo; Bošković, Marko C.

(Elsevier Science Inc, New York, 2017)

TY  - JOUR
AU  - Mandić, Petar
AU  - Sekara, Tomislav B.
AU  - Lazarević, Mihailo
AU  - Bošković, Marko C.
PY  - 2017
UR  - https://machinery.mas.bg.ac.rs/handle/123456789/2544
AB  - Dominant pole placement is a useful technique designed to deal with the problem of controlling a high order or time-delay systems with low order controller such as the PID"controller. This paper tries to solve this problem by using D-decomposition method. Straightforward analytic procedure makes this method extremely powerful and easy to apply. This technique is applicable to a wide range of transfer functions: with or without time-delay, rational and non-rational ones, and those describing distributed parameter systems. In order to control as many different processes as possible, a fractional order PID controller is introduced, as a generalization of classical PID controller. As a consequence, it provides additional parameters for better adjusting system performances. The design method presented in this paper tunes the parameters of PID and fractional PID controller in order to obtain good load disturbance response with a constraint on the maximum sensitivity and sensitivity to noise measurement. Good set point response is also one of the design goals of this technique. Numerous examples taken from the process industry are given, and D-decomposition approach is compared with other PID optimization methods to show its effectiveness.
PB  - Elsevier Science Inc, New York
T2  - Isa Transactions
T1  - Dominant pole placement with fractional order PID controllers: D-decomposition approach
EP  - 86
SP  - 76
VL  - 67
DO  - 10.1016/j.isatra.2016.11.013
ER  - 
@article{
author = "Mandić, Petar and Sekara, Tomislav B. and Lazarević, Mihailo and Bošković, Marko C.",
year = "2017",
abstract = "Dominant pole placement is a useful technique designed to deal with the problem of controlling a high order or time-delay systems with low order controller such as the PID"controller. This paper tries to solve this problem by using D-decomposition method. Straightforward analytic procedure makes this method extremely powerful and easy to apply. This technique is applicable to a wide range of transfer functions: with or without time-delay, rational and non-rational ones, and those describing distributed parameter systems. In order to control as many different processes as possible, a fractional order PID controller is introduced, as a generalization of classical PID controller. As a consequence, it provides additional parameters for better adjusting system performances. The design method presented in this paper tunes the parameters of PID and fractional PID controller in order to obtain good load disturbance response with a constraint on the maximum sensitivity and sensitivity to noise measurement. Good set point response is also one of the design goals of this technique. Numerous examples taken from the process industry are given, and D-decomposition approach is compared with other PID optimization methods to show its effectiveness.",
publisher = "Elsevier Science Inc, New York",
journal = "Isa Transactions",
title = "Dominant pole placement with fractional order PID controllers: D-decomposition approach",
pages = "86-76",
volume = "67",
doi = "10.1016/j.isatra.2016.11.013"
}
Mandić, P., Sekara, T. B., Lazarević, M.,& Bošković, M. C.. (2017). Dominant pole placement with fractional order PID controllers: D-decomposition approach. in Isa Transactions
Elsevier Science Inc, New York., 67, 76-86.
https://doi.org/10.1016/j.isatra.2016.11.013
Mandić P, Sekara TB, Lazarević M, Bošković MC. Dominant pole placement with fractional order PID controllers: D-decomposition approach. in Isa Transactions. 2017;67:76-86.
doi:10.1016/j.isatra.2016.11.013 .
Mandić, Petar, Sekara, Tomislav B., Lazarević, Mihailo, Bošković, Marko C., "Dominant pole placement with fractional order PID controllers: D-decomposition approach" in Isa Transactions, 67 (2017):76-86,
https://doi.org/10.1016/j.isatra.2016.11.013 . .
48
10
55

Some Electromechanical Systems and Analogies of Mem-systems Integer and Fractional Order

Lazarević, Mihailo; Mandić, Petar; Cvetković, Boško; Sekara, Tomislav B.; Lutovac, Budimir

(Institute of Electrical and Electronics Engineers Inc., 2016)

TY  - CONF
AU  - Lazarević, Mihailo
AU  - Mandić, Petar
AU  - Cvetković, Boško
AU  - Sekara, Tomislav B.
AU  - Lutovac, Budimir
PY  - 2016
UR  - https://machinery.mas.bg.ac.rs/handle/123456789/2314
AB  - This paper will provide some an applications of memristors and mem-systems with a particular focus on electromechanical systems and analogies that holds great promise for advanced modeling and control of complex objects and processes. Also, we present the connection between fractional order differintegral operators and behavior of the mem-systems. Finally, several potential applications of electromechanical analogies of integer and fractional order are discussed.
PB  - Institute of Electrical and Electronics Engineers Inc.
C3  - 2016 5th Mediterranean Conference on Embedded Computing, MECO 2016 - Including ECyPS 2016, BIOENG.ME
T1  - Some Electromechanical Systems and Analogies of Mem-systems Integer and Fractional Order
EP  - 233
SP  - 230
DO  - 10.1109/MECO.2016.7525748
ER  - 
@conference{
author = "Lazarević, Mihailo and Mandić, Petar and Cvetković, Boško and Sekara, Tomislav B. and Lutovac, Budimir",
year = "2016",
abstract = "This paper will provide some an applications of memristors and mem-systems with a particular focus on electromechanical systems and analogies that holds great promise for advanced modeling and control of complex objects and processes. Also, we present the connection between fractional order differintegral operators and behavior of the mem-systems. Finally, several potential applications of electromechanical analogies of integer and fractional order are discussed.",
publisher = "Institute of Electrical and Electronics Engineers Inc.",
journal = "2016 5th Mediterranean Conference on Embedded Computing, MECO 2016 - Including ECyPS 2016, BIOENG.ME",
title = "Some Electromechanical Systems and Analogies of Mem-systems Integer and Fractional Order",
pages = "233-230",
doi = "10.1109/MECO.2016.7525748"
}
Lazarević, M., Mandić, P., Cvetković, B., Sekara, T. B.,& Lutovac, B.. (2016). Some Electromechanical Systems and Analogies of Mem-systems Integer and Fractional Order. in 2016 5th Mediterranean Conference on Embedded Computing, MECO 2016 - Including ECyPS 2016, BIOENG.ME
Institute of Electrical and Electronics Engineers Inc.., 230-233.
https://doi.org/10.1109/MECO.2016.7525748
Lazarević M, Mandić P, Cvetković B, Sekara TB, Lutovac B. Some Electromechanical Systems and Analogies of Mem-systems Integer and Fractional Order. in 2016 5th Mediterranean Conference on Embedded Computing, MECO 2016 - Including ECyPS 2016, BIOENG.ME. 2016;:230-233.
doi:10.1109/MECO.2016.7525748 .
Lazarević, Mihailo, Mandić, Petar, Cvetković, Boško, Sekara, Tomislav B., Lutovac, Budimir, "Some Electromechanical Systems and Analogies of Mem-systems Integer and Fractional Order" in 2016 5th Mediterranean Conference on Embedded Computing, MECO 2016 - Including ECyPS 2016, BIOENG.ME (2016):230-233,
https://doi.org/10.1109/MECO.2016.7525748 . .
8
3
6

D-decomposition technique for stabilization of Furuta pendulum: fractional approach

Mandić, Petar; Lazarević, Mihailo; Sekara, Tomislav B.

(Polska Akad Nauk, Polish Acad Sci, Div Iv Technical Sciences Pas, Warszawa, 2016)

TY  - JOUR
AU  - Mandić, Petar
AU  - Lazarević, Mihailo
AU  - Sekara, Tomislav B.
PY  - 2016
UR  - https://machinery.mas.bg.ac.rs/handle/123456789/2473
AB  - In this paper, the stability problem of Furuta pendulum controlled by the fractional order PD controller is presented. A mathematical model of rotational inverted pendulum is derived and the fractional order PD controller is introduced in order to stabilize the same. The problem of asymptotic stability of a closed loop system is solved using the D-decomposition approach. On the basis of this method, analytical forms expressing the boundaries of stability regions in the parameters space have been determined. The D-decomposition method is investigated for linear fractional order systems and for the case of linear parameter dependence. In addition, some results for the case of nonlinear parameter dependence are presented. An example is given and tests are made in order to confirm that stability domains have been well calculated. When the stability regions have been determined, tuning of the fractional order PD controller can be carried out.
PB  - Polska Akad Nauk, Polish Acad Sci, Div Iv Technical Sciences Pas, Warszawa
T2  - Bulletin of The Polish Academy of Sciences-Technical Sciences
T1  - D-decomposition technique for stabilization of Furuta pendulum: fractional approach
EP  - 196
IS  - 1
SP  - 189
VL  - 64
DO  - 10.1515/bpasts-2016-0021
ER  - 
@article{
author = "Mandić, Petar and Lazarević, Mihailo and Sekara, Tomislav B.",
year = "2016",
abstract = "In this paper, the stability problem of Furuta pendulum controlled by the fractional order PD controller is presented. A mathematical model of rotational inverted pendulum is derived and the fractional order PD controller is introduced in order to stabilize the same. The problem of asymptotic stability of a closed loop system is solved using the D-decomposition approach. On the basis of this method, analytical forms expressing the boundaries of stability regions in the parameters space have been determined. The D-decomposition method is investigated for linear fractional order systems and for the case of linear parameter dependence. In addition, some results for the case of nonlinear parameter dependence are presented. An example is given and tests are made in order to confirm that stability domains have been well calculated. When the stability regions have been determined, tuning of the fractional order PD controller can be carried out.",
publisher = "Polska Akad Nauk, Polish Acad Sci, Div Iv Technical Sciences Pas, Warszawa",
journal = "Bulletin of The Polish Academy of Sciences-Technical Sciences",
title = "D-decomposition technique for stabilization of Furuta pendulum: fractional approach",
pages = "196-189",
number = "1",
volume = "64",
doi = "10.1515/bpasts-2016-0021"
}
Mandić, P., Lazarević, M.,& Sekara, T. B.. (2016). D-decomposition technique for stabilization of Furuta pendulum: fractional approach. in Bulletin of The Polish Academy of Sciences-Technical Sciences
Polska Akad Nauk, Polish Acad Sci, Div Iv Technical Sciences Pas, Warszawa., 64(1), 189-196.
https://doi.org/10.1515/bpasts-2016-0021
Mandić P, Lazarević M, Sekara TB. D-decomposition technique for stabilization of Furuta pendulum: fractional approach. in Bulletin of The Polish Academy of Sciences-Technical Sciences. 2016;64(1):189-196.
doi:10.1515/bpasts-2016-0021 .
Mandić, Petar, Lazarević, Mihailo, Sekara, Tomislav B., "D-decomposition technique for stabilization of Furuta pendulum: fractional approach" in Bulletin of The Polish Academy of Sciences-Technical Sciences, 64, no. 1 (2016):189-196,
https://doi.org/10.1515/bpasts-2016-0021 . .
11
4
12

Robotic system with viscoelastic element modeled via fractional Zener model

Cajić, Milan S.; Lazarević, Mihailo; Sekara, Tomislav B.

(Institute of Electrical and Electronics Engineers Inc., 2014)

TY  - CONF
AU  - Cajić, Milan S.
AU  - Lazarević, Mihailo
AU  - Sekara, Tomislav B.
PY  - 2014
UR  - https://machinery.mas.bg.ac.rs/handle/123456789/1977
AB  - In this communication, we propose a four-parameter fractional derivative Zener model for modeling of a viscoelastic element connected into a robotic system. We used force-displacement relation in order to obtain generalized forces of the element connected to two different bodies in the system. Generalized forces of the element are derived using the principle of virtual work. In order to obtain numerical results, we suggested a robotic system with three degrees of freedom. Behavior of generalized forces is examined for changes of fractional order parameter and relaxation time.
PB  - Institute of Electrical and Electronics Engineers Inc.
C3  - 2014 International Conference on Fractional Differentiation and Its Applications, ICFDA 2014
T1  - Robotic system with viscoelastic element modeled via fractional Zener model
DO  - 10.1109/ICFDA.2014.6967423
ER  - 
@conference{
author = "Cajić, Milan S. and Lazarević, Mihailo and Sekara, Tomislav B.",
year = "2014",
abstract = "In this communication, we propose a four-parameter fractional derivative Zener model for modeling of a viscoelastic element connected into a robotic system. We used force-displacement relation in order to obtain generalized forces of the element connected to two different bodies in the system. Generalized forces of the element are derived using the principle of virtual work. In order to obtain numerical results, we suggested a robotic system with three degrees of freedom. Behavior of generalized forces is examined for changes of fractional order parameter and relaxation time.",
publisher = "Institute of Electrical and Electronics Engineers Inc.",
journal = "2014 International Conference on Fractional Differentiation and Its Applications, ICFDA 2014",
title = "Robotic system with viscoelastic element modeled via fractional Zener model",
doi = "10.1109/ICFDA.2014.6967423"
}
Cajić, M. S., Lazarević, M.,& Sekara, T. B.. (2014). Robotic system with viscoelastic element modeled via fractional Zener model. in 2014 International Conference on Fractional Differentiation and Its Applications, ICFDA 2014
Institute of Electrical and Electronics Engineers Inc...
https://doi.org/10.1109/ICFDA.2014.6967423
Cajić MS, Lazarević M, Sekara TB. Robotic system with viscoelastic element modeled via fractional Zener model. in 2014 International Conference on Fractional Differentiation and Its Applications, ICFDA 2014. 2014;.
doi:10.1109/ICFDA.2014.6967423 .
Cajić, Milan S., Lazarević, Mihailo, Sekara, Tomislav B., "Robotic system with viscoelastic element modeled via fractional Zener model" in 2014 International Conference on Fractional Differentiation and Its Applications, ICFDA 2014 (2014),
https://doi.org/10.1109/ICFDA.2014.6967423 . .
2
2

Optimal tuning of fractional PIDCα controller in the frequency domain

Sekara, Tomislav B.; Rapaić, Milan R.; Lazarević, Mihailo

(Institute of Electrical and Electronics Engineers Inc., 2014)

TY  - CONF
AU  - Sekara, Tomislav B.
AU  - Rapaić, Milan R.
AU  - Lazarević, Mihailo
PY  - 2014
UR  - https://machinery.mas.bg.ac.rs/handle/123456789/1948
AB  - A new frequency-domain algorithm for optimization of PID regulators having a fractional differential compensator connected in series (PIDCα) has been developed. The adjustable parameters of the regulator are: proportional gain k, integral gain ki, relative attenuation factor of PID zeros ζ, zero of the fractional differential compensator-1/τ and fractional power a of the differential compensator. The optimization procedure is based on maximization of integral or proportional gain, given values of the maximum sensitivity Ms and sensitivity to measurement noise Mn. By solving the optimization procedure one obtains parameters of PIDCα regulator which results in minimum IAE (Integrated Absolute Error). The analysis of optimal PIDCα is performed through a series of simulations for several dynamic processes representative for industrial applications.
PB  - Institute of Electrical and Electronics Engineers Inc.
C3  - 2014 International Conference on Fractional Differentiation and Its Applications, ICFDA 2014
T1  - Optimal tuning of fractional PIDCα controller in the frequency domain
DO  - 10.1109/ICFDA.2014.6967357
ER  - 
@conference{
author = "Sekara, Tomislav B. and Rapaić, Milan R. and Lazarević, Mihailo",
year = "2014",
abstract = "A new frequency-domain algorithm for optimization of PID regulators having a fractional differential compensator connected in series (PIDCα) has been developed. The adjustable parameters of the regulator are: proportional gain k, integral gain ki, relative attenuation factor of PID zeros ζ, zero of the fractional differential compensator-1/τ and fractional power a of the differential compensator. The optimization procedure is based on maximization of integral or proportional gain, given values of the maximum sensitivity Ms and sensitivity to measurement noise Mn. By solving the optimization procedure one obtains parameters of PIDCα regulator which results in minimum IAE (Integrated Absolute Error). The analysis of optimal PIDCα is performed through a series of simulations for several dynamic processes representative for industrial applications.",
publisher = "Institute of Electrical and Electronics Engineers Inc.",
journal = "2014 International Conference on Fractional Differentiation and Its Applications, ICFDA 2014",
title = "Optimal tuning of fractional PIDCα controller in the frequency domain",
doi = "10.1109/ICFDA.2014.6967357"
}
Sekara, T. B., Rapaić, M. R.,& Lazarević, M.. (2014). Optimal tuning of fractional PIDCα controller in the frequency domain. in 2014 International Conference on Fractional Differentiation and Its Applications, ICFDA 2014
Institute of Electrical and Electronics Engineers Inc...
https://doi.org/10.1109/ICFDA.2014.6967357
Sekara TB, Rapaić MR, Lazarević M. Optimal tuning of fractional PIDCα controller in the frequency domain. in 2014 International Conference on Fractional Differentiation and Its Applications, ICFDA 2014. 2014;.
doi:10.1109/ICFDA.2014.6967357 .
Sekara, Tomislav B., Rapaić, Milan R., Lazarević, Mihailo, "Optimal tuning of fractional PIDCα controller in the frequency domain" in 2014 International Conference on Fractional Differentiation and Its Applications, ICFDA 2014 (2014),
https://doi.org/10.1109/ICFDA.2014.6967357 . .
3
3

Fractional order PD control of Furuta pendulum: D-decomposition approach

Mandić, Petar; Lazarević, Mihailo; Sekara, Tomislav B.

(Institute of Electrical and Electronics Engineers Inc., 2014)

TY  - CONF
AU  - Mandić, Petar
AU  - Lazarević, Mihailo
AU  - Sekara, Tomislav B.
PY  - 2014
UR  - https://machinery.mas.bg.ac.rs/handle/123456789/1953
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 Ddecomposition problem for linear systems is extended for linear fractional systems and for the case of nonlinear parameters dependence. Some comparisons of fractional and integer order PID controllers are given based on simulation results.
PB  - Institute of Electrical and Electronics Engineers Inc.
C3  - 2014 International Conference on Fractional Differentiation and Its Applications, ICFDA 2014
T1  - Fractional order PD control of Furuta pendulum: D-decomposition approach
DO  - 10.1109/ICFDA.2014.6967422
ER  - 
@conference{
author = "Mandić, Petar and Lazarević, Mihailo and Sekara, Tomislav B.",
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 Ddecomposition problem for linear systems is extended for linear fractional systems and for the case of nonlinear parameters dependence. Some comparisons of fractional and integer order PID controllers are given based on simulation results.",
publisher = "Institute of Electrical and Electronics Engineers Inc.",
journal = "2014 International Conference on Fractional Differentiation and Its Applications, ICFDA 2014",
title = "Fractional order PD control of Furuta pendulum: D-decomposition approach",
doi = "10.1109/ICFDA.2014.6967422"
}
Mandić, P., Lazarević, M.,& Sekara, T. B.. (2014). Fractional order PD control of Furuta pendulum: D-decomposition approach. in 2014 International Conference on Fractional Differentiation and Its Applications, ICFDA 2014
Institute of Electrical and Electronics Engineers Inc...
https://doi.org/10.1109/ICFDA.2014.6967422
Mandić P, Lazarević M, Sekara TB. Fractional order PD control of Furuta pendulum: D-decomposition approach. in 2014 International Conference on Fractional Differentiation and Its Applications, ICFDA 2014. 2014;.
doi:10.1109/ICFDA.2014.6967422 .
Mandić, Petar, Lazarević, Mihailo, Sekara, Tomislav B., "Fractional order PD control of Furuta pendulum: D-decomposition approach" in 2014 International Conference on Fractional Differentiation and Its Applications, ICFDA 2014 (2014),
https://doi.org/10.1109/ICFDA.2014.6967422 . .
6
8

On discrete, finite-dimensional approximation of linear, infinite dimensional systems

Rapaić, Milan R.; Sekara, Tomislav B.; Lazarević, Mihailo

(Nova Science Publishers, Inc., 2014)

TY  - CHAP
AU  - Rapaić, Milan R.
AU  - Sekara, Tomislav B.
AU  - Lazarević, Mihailo
PY  - 2014
UR  - https://machinery.mas.bg.ac.rs/handle/123456789/1979
AB  - Many phenomena are naturally described in terms of dynamical systems of infinite order. Such phenomena cannot be adequately described by an interconnection of a finite number of accumulating elements, i.e., by means of differential or difference equations of finite order. Among the well-known examples are distributed parameter systems, which are usually described by partial differential equations, and fractional order systems, which are described by fractional differential equations. In order for an infinite-dimensional system to be simulated or implemented using a digital computer, it must be approximated by a finitedimensional model. Numerous methods for finite-dimensional approximations of infinite dimensional systems have been considered in literature. If spatial distribution of variables is of interest, distributed parameter systems are often simulated by means of the finite elements method (FEM). If the spatial distribution of variables is not of interest, as it is the case with fractional order models, an approximating ordinary differential equation of sufficiently high order is used for approximation. A novel, flexible and numerically efficient method for rational, finite-dimensional approximation of linear, infinite-dimensional systems is presented in the current chapter. The proposed method uses the least-squares (LS) procedure to interpolate frequency domain response of a fractional order system using a finite number of incident frequencies. An adequate comparative analysis has also been carried out through corresponding examples by applying several other known approximation methods.
PB  - Nova Science Publishers, Inc.
T2  - Fractional Calculus: Theory
T1  - On discrete, finite-dimensional approximation of linear, infinite dimensional systems
EP  - 274
SP  - 257
UR  - https://hdl.handle.net/21.15107/rcub_machinery_1979
ER  - 
@inbook{
author = "Rapaić, Milan R. and Sekara, Tomislav B. and Lazarević, Mihailo",
year = "2014",
abstract = "Many phenomena are naturally described in terms of dynamical systems of infinite order. Such phenomena cannot be adequately described by an interconnection of a finite number of accumulating elements, i.e., by means of differential or difference equations of finite order. Among the well-known examples are distributed parameter systems, which are usually described by partial differential equations, and fractional order systems, which are described by fractional differential equations. In order for an infinite-dimensional system to be simulated or implemented using a digital computer, it must be approximated by a finitedimensional model. Numerous methods for finite-dimensional approximations of infinite dimensional systems have been considered in literature. If spatial distribution of variables is of interest, distributed parameter systems are often simulated by means of the finite elements method (FEM). If the spatial distribution of variables is not of interest, as it is the case with fractional order models, an approximating ordinary differential equation of sufficiently high order is used for approximation. A novel, flexible and numerically efficient method for rational, finite-dimensional approximation of linear, infinite-dimensional systems is presented in the current chapter. The proposed method uses the least-squares (LS) procedure to interpolate frequency domain response of a fractional order system using a finite number of incident frequencies. An adequate comparative analysis has also been carried out through corresponding examples by applying several other known approximation methods.",
publisher = "Nova Science Publishers, Inc.",
journal = "Fractional Calculus: Theory",
booktitle = "On discrete, finite-dimensional approximation of linear, infinite dimensional systems",
pages = "274-257",
url = "https://hdl.handle.net/21.15107/rcub_machinery_1979"
}
Rapaić, M. R., Sekara, T. B.,& Lazarević, M.. (2014). On discrete, finite-dimensional approximation of linear, infinite dimensional systems. in Fractional Calculus: Theory
Nova Science Publishers, Inc.., 257-274.
https://hdl.handle.net/21.15107/rcub_machinery_1979
Rapaić MR, Sekara TB, Lazarević M. On discrete, finite-dimensional approximation of linear, infinite dimensional systems. in Fractional Calculus: Theory. 2014;:257-274.
https://hdl.handle.net/21.15107/rcub_machinery_1979 .
Rapaić, Milan R., Sekara, Tomislav B., Lazarević, Mihailo, "On discrete, finite-dimensional approximation of linear, infinite dimensional systems" in Fractional Calculus: Theory (2014):257-274,
https://hdl.handle.net/21.15107/rcub_machinery_1979 .
4

An efficient method for approximation of non-rational transfer functions

Sekara, Tomislav B.; Rapaić, Milan R.; Lazarević, Mihailo

(University of Banja Luka, 2013)

TY  - JOUR
AU  - Sekara, Tomislav B.
AU  - Rapaić, Milan R.
AU  - Lazarević, Mihailo
PY  - 2013
UR  - https://machinery.mas.bg.ac.rs/handle/123456789/1779
AB  - A method for rational approximation of linear fractional order systems (LFOS) is presented in the present paper. The method is computationally efficient, flexible and effective, as is illustrated by numerous examples. The proposed approach can also be used as an intermediate stage in designing indirect discrete rational approximations.
PB  - University of Banja Luka
T2  - Electronics
T1  - An efficient method for approximation of non-rational transfer functions
EP  - 44
IS  - 1
SP  - 40
VL  - 17
DO  - 10.7251/ELS1317030R
ER  - 
@article{
author = "Sekara, Tomislav B. and Rapaić, Milan R. and Lazarević, Mihailo",
year = "2013",
abstract = "A method for rational approximation of linear fractional order systems (LFOS) is presented in the present paper. The method is computationally efficient, flexible and effective, as is illustrated by numerous examples. The proposed approach can also be used as an intermediate stage in designing indirect discrete rational approximations.",
publisher = "University of Banja Luka",
journal = "Electronics",
title = "An efficient method for approximation of non-rational transfer functions",
pages = "44-40",
number = "1",
volume = "17",
doi = "10.7251/ELS1317030R"
}
Sekara, T. B., Rapaić, M. R.,& Lazarević, M.. (2013). An efficient method for approximation of non-rational transfer functions. in Electronics
University of Banja Luka., 17(1), 40-44.
https://doi.org/10.7251/ELS1317030R
Sekara TB, Rapaić MR, Lazarević M. An efficient method for approximation of non-rational transfer functions. in Electronics. 2013;17(1):40-44.
doi:10.7251/ELS1317030R .
Sekara, Tomislav B., Rapaić, Milan R., Lazarević, Mihailo, "An efficient method for approximation of non-rational transfer functions" in Electronics, 17, no. 1 (2013):40-44,
https://doi.org/10.7251/ELS1317030R . .
1
7