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This document presents the design of Fractional-order Proportional-Derivative-Integral (FoPID) controllers for a single-joint robot arm model, utilizing the Particle Swarm Optimization (PSO) algorithm to tune the controller parameters. The study compares two approaches for Laplacian operators, Continued Fraction Expansion (CFE) and Oustaloup’s approximation, alongside three fitness functions to optimize the system

Author

1065269030

Language

EN