Journal of Mechanical Science and Technology

, Volume 32, Issue 11, pp 5411–5419 | Cite as

Robustness analysis of fractional order PID for an electrical aerial platform

  • N. M. H. Norsahperi
  • S. AhmadEmail author
  • S. F. Toha
  • I. A. Mahmood
  • N. H. H. Mohamad Hanif


This work was performed to objectively measure and assess the robustness and tracking performance of fractional order of proportional, integral and derivative (FOPID) controller as compared to the conventional PID control. In satellite research and development, the satellite undergoes numerous tests such as thermal, acoustic and vibration tests in the cleanroom environment. However, due to space limitation in the cleanroom and the sensitive components of the satellite, it requires vibration-free, smooth and precise motion when handling the satellite. In addition, measurement interference might occur due to cable routing during procedures or tasks performed by an operator. Unlike the previous work, the robustness analysis of FOPID controller was not systematically conducted. In this paper, the analysis took into account the actuator dynamics, and various tests were considered to measure the robustness of FOPID controller. The designed FOPID controller was implemented on the scissor-type lifting mechanism of motorized adjustable vertical platform (MAVeP) model, and its performance was compared with the traditional PID controller. A comprehensive verification using MATLAB and Solidworks was carried out to generate the model and conduct the analysis. Both controllers were initially tuned using Nichol-Ziegler technique, and the additional FOPID controller parameters was tuned using the Astrom-Hagglund method. From the simulation work, it was found that the FOPID controller’s tracking error was reduced between 10 % - 50 % for the disturbance rejection tests and reference to disturbance ratio (RDR) spectrum was higher as compared to PID. The analysis in this paper was predicted to be the main driver to implement FOPID controller in the complex system in the industry, especially for sensitive material handling and transportation such as satellite.


Robust control Scissor mechanism Satellite facilities MAVeP Reference to disturbance ratio Ziegler-Nichols Astrom-Hagglund and FOPID control 


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Copyright information

© The Korean Society of Mechanical Engineers and Springer-Verlag GmbH Germany, part of Springer Nature 2018

Authors and Affiliations

  • N. M. H. Norsahperi
    • 1
  • S. Ahmad
    • 2
    Email author
  • S. F. Toha
    • 1
  • I. A. Mahmood
    • 3
  • N. H. H. Mohamad Hanif
    • 1
  1. 1.Department of Mechatronics Engineering, Kulliyyah of EngineeringInternational Islamic University MalaysiaJalam Gombak, SelangorMalaysia
  2. 2.Department of Electrical and Computer Engineering, Faculty of Engineering Girls CampusKing Abdul Aziz UniversityJeddahKingdom of Saudi Arabia
  3. 3.Facilities of Future, GR&T, Project Delivery & Technology (PD&T) Division, PETRONAS Research Sdn. Bhd. (PRSB)Kawasan Institusi BangiKajangMalaysia

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