Fracional order current controller in servo drive control system

In the paper results of using fractional order PI current controller in comparison with using classical one in case of servo drive cascade control system are presented. The issue of modelling static friction, that is the most important factor having a huge influence on the motion and current characteristic especially in case of slow motion and small movements, were also described. The most significant result in case of using fractional order current controller observed for starting servo drive are presented and commented.