Fractional-order Proportional Derivative Controller Tuning for Motion Systems

Part of the Advances in Industrial Control book series (AIC)


In Chapter 5, we focused on fractional-order proportional integral controller tuning. The plants to be controlled are assumed to be FOPDT plants. In this chapter, we focus on fractional-order proportional derivative controllers, PD μ , for another class of plants that are very common in motion control applications. A new tuning method for PD μ controllers is proposed to ensure that specifications of gain crossover frequency and phase margin are fulfilled. Furthermore, the derivative of the phase in Bode plot of the open-loop system with respect to the frequency is forced to be zero at the given gain crossover frequency so that the closed-loop system is robust to gain variations. The design method proposed is practical and simple to apply. Simulation and experimental results show that the closed-loop system can achieve favorable dynamic performance and robustness.


Position Response Phase Margin Tuning Method Controller Tune Unit Step Response 
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© Springer-Verlag London Limited 2010

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