Fractional order controller design for a large class of process models

Due to adding the extra degree of freedom, the fractional order PID (FO-PID) controller can achieve better control performance than the integer order PID controller. Based on the existing tuning methods, developed for particular forms of the process, in this paper the FO-PI and FO-PD controller design method is proposed for a large class of system models, including fractional order and integer models too. The explicit tuning rules are accessible even to less experienced users in fractional calculus, taking only the advantages of the controller and not the disadvantage of complex mathematical background. The advantages of the methods are demonstrated through case studies.