Robust PID and Fractional PI Controllers Tuning for General Plant Model

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  Basil H. Jasim.   |   

In this paper, a design procedure that assumes general integer or noninteger order plant models ‘also can be unknown’ has been adopted to tune PID and fractional-order PI (FOPI) controller. The design procedure depends on some specifications of the frequency response of the open-loop system to ensure the performance and robustness of the step response of the closed-loop system. Firstly, the procedure is applied to the integer-order conventional PID (IOPID) controller, and then it has been extended to FOPI. An extensive simulation study has been made to investigate the performance of the obtained controllers, and also to compare between the two controllers. The simulation study has shown the validity and that the proposed controllers have good features in all of the control demands, where it shows that these controllers have fast rise time with no overshoot and negligible steady-state error. Also, it has shown that the FOPI controller performs better than IOPID one.