This code made in Matlab-Simulink corresponds to the identified dynamic model of a parallel robotic manipulator type delta presented in the paper Fractional order PID for tracking control of a parallel robotic manipulator type delta. To run the code just download all the files in the same folder and execute the file identTestCode.m. The simulation is performed using simulink and is performed in open-loop. Therefore you can add the closed loop control strategy of your preference.
If you find this code useful for your research, please cite the paper related to this work as follows:
L. Angel and J. Viola, “Fractional order PID for tracking control of a parallel robotic manipulator type delta,” ISA Trans., vol. 79, pp. 172–188, 2018.