Innovated PID pulse autotuner for fractional-order model set: The method of moments

Recently, a successful PID pulse autotuner based on model set approach was developed. Despite high reliability, several requirements for significant improvement have appeared after a decade of its industrial usage. Two of them are handled in this paper. Firstly, the set of a priori admissible processes was extended to fractional-order all-pole models to cover wider range of real plants. Secondly, a new parameter affecting the model set span was introduced. It helps markedly the practitioners to reach the proper robustness/performance ratio especially in the case when the initial controller tuning is too conservative. The authors believe that the new theory will be soon transferred to industrial practice.