A new tuning method for PI λ D μ controller

Abstract

The paper presents development of a new tuning method for fractional order PID controller for the systems which have integer order transfer functions. All the parameters of the controller, namely proportional gain k p , integral gain k i , derivative gain k d , fractional order of integrator λ and fractional order of differentiator μ can be obtained by using this method. It is clearly shown that the fractional order controller, which the parameters obtained by the proposed method, gives better response than the integer order one for the same system.