Some Applications of Fractional Calculus in Engineering

Figure 7

Locus of $E_{av}$ versus ${\epsilon }_{xyH}$ for the different values of $\alpha$ in the $G_{c1}(s)$ tuning, when establishing a compromise between the minimisation of $E_{av}$ and ${\epsilon }_{xyH}$, with $G_{c2}=0.9$, joints 1 and 2 motor actuated and joint 3 mechanical actuated.