{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,3,11]],"date-time":"2026-03-11T23:44:46Z","timestamp":1773272686805,"version":"3.50.1"},"reference-count":25,"publisher":"World Scientific Pub Co Pte Lt","issue":"11","content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["J CIRCUIT SYST COMP"],"published-print":{"date-parts":[[2018,10]]},"abstract":"<jats:p> This study demonstrates the utilization of model reference adaptive control (MRAC) for closed-loop fractional-order PID (FOPID) control of a magnetic levitation (ML) system. Design specifications of ML transportation systems require robust performance in the presence of environmental disturbances. Numerical and experimental results demonstrate that incorporation of MRAC and FOPID control can improve the disturbance rejection control performance of ML systems. The proposed multiloop MRAC\u2013FOPID control structure is composed of two hierarchical loops which are working in conjunction to improve robust control performance of the system in case of disturbances and faults. In this multiloop approach, an inner loop performs a regular closed-loop FOPID control, and the outer loop performs MRAC based on Massachusetts Institute of Technology (MIT) rule. These loops are integrated by means of the input-shaping technique and therefore no modification of any parameter of the existing closed-loop control system is necessary. This property provides a straightforward design solution that allows for independent design of each loop. To implement FOPID control of the ML system, a retuning technique is used which allows transforming an existing PID control loop into an FOPID control loop. This paper presents the simulation and experimental results and discusses possible contributions of multiloop MRAC\u2013FOPID structure to disturbance rejection control of the ML system. <\/jats:p>","DOI":"10.1142\/s0218126618501761","type":"journal-article","created":{"date-parts":[[2018,1,23]],"date-time":"2018-01-23T03:37:09Z","timestamp":1516678629000},"page":"1850176","source":"Crossref","is-referenced-by-count":34,"title":["Model Reference Adaptive Control Scheme for Retuning Method-Based Fractional-Order PID Control with Disturbance Rejection Applied to Closed-Loop Control of a Magnetic Levitation System"],"prefix":"10.1142","volume":"27","author":[{"given":"Aleksei","family":"Tepljakov","sequence":"first","affiliation":[{"name":"Department of Computer Systems, Tallinn University of Technology, 19086 Tallinn, Estonia"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Baris Baykant","family":"Alagoz","sequence":"additional","affiliation":[{"name":"Department of Computer Engineering, Inonu University, 44280 Malatya, Turkey"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Emmanuel","family":"Gonzalez","sequence":"additional","affiliation":[{"name":"Schindler Elevator Corporation, 1530 Timberwolf Drive, Holland, OH 43528, USA"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Eduard","family":"Petlenkov","sequence":"additional","affiliation":[{"name":"Department of Computer Systems, Tallinn University of Technology, 19086 Tallinn, Estonia"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Celaleddin","family":"Yeroglu","sequence":"additional","affiliation":[{"name":"Department of Computer Engineering, Inonu University, 44280 Malatya, Turkey"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"219","published-online":{"date-parts":[[2018,6,6]]},"reference":[{"key":"S0218126618501761BIB001","volume-title":"New Developments in the Design of Model Reference Adaptive Control Systems","author":"Osburn P.","year":"1961"},{"key":"S0218126618501761BIB002","series-title":"Control and Systems Theory","volume-title":"Adaptive Control: The Model Reference Approach","volume":"8","author":"Landau Y.","year":"1979"},{"key":"S0218126618501761BIB003","volume-title":"Adaptive Control","author":"\u00c5str\u00f6m K.","year":"1995"},{"key":"S0218126618501761BIB004","series-title":"Prentice Hall International Series in Systems and Control Engineering","volume-title":"Model Reference Adaptive Control: From Theory to Practice","author":"Butler H.","year":"1992"},{"key":"S0218126618501761BIB005","first-page":"477","volume":"3","author":"Jain P.","year":"2013","journal-title":"Adv. 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