Digital fractional-order control of a position servo

Fractional-order calculus offers flexible computational possibilities that can be applied to control design gaining improvement in control loop performance. In this paper, we study the practical aspects of tuning and implementing a fractional PD controller for a position servo system using FOMCON (“Fractional-order Modeling and Control”) toolbox for MATLAB. We provide an overview of the tools used to model, analyze, and design the control system. The procedure of tuning and implementation of a suitable digital fractional-order controller is described. The results of the real-time experiments confirm the effectiveness of used methods.