Design of fractional order robust controller for universal plant structure

The tuning methods of fractional order PI^α / PD^β controllers are available in the literature for the given structure of plant. Generalization of these methods to deal with any generalized fractional order plant structure minimizes the tuning efforts significantly. This paper provides such generalization to meet the given performance and robustness specifications. With the help of typical plant cases under consideration, the correctness of the deduced expressions is illustrated.