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 . .

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  - 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 .

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  - 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 . .

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 . .

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  - 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 .