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LQR based improved discrete PID controller design via optimum selection of weighting matrices using fractional order integral performance index

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Figure

Fig. 2. Root locus of the discretized open loop system with increasing sampling time.
Fig. 4. Effect of weighting matrices Q and R on the time response.
Fig. 5. Geometric interpretation of fractional order integration.
Fig. 6. Changing shadow on the wall as t changes.
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