Fractional-order Proportional Integral Derivative Controllers
This chapter deals with the design of fractional-order PI λ D μ controllers, in which the orders of the integral and derivative parts, λ and μ respectively, are fractional. The purpose is to take advantage of the introduction of these two parameters and fulfil additional specifications of design, ensuring a robust performance of the controlled system with respect to gain variations and noise. A method for tuning the PI λ D μ controller is proposed to fulfil five different design specifications. Experimental results show that the requirements are fully met for the platform to be controlled.
KeywordsFractional Order Phase Margin Tuning Method Derivative Part Noise Rejection
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