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
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  - 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 . .

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 .