Abstract
This paper introduces a tuning rule design for fractional order PID controllers. The design is based on a first order plus dead time model for the controlled process. The control problem presented, requires minimizing the integrated absolute error for each control mode, then making a different set of rules for set-point and load-disturbance response. For the proposed optimization, a robustness constraint based on the maximum value of the sensitivity function has been considered so that the tuned controllers have an optimal performance and guarantee the stability of the control system at the time of implementation. By performing a curve fitting process towards the optimal controller parameters, the Model based Robust Tuning rule was designed and its improvement over other tuning methods is validated through examples.
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