Abstract
Many tuning rules for controllers consider each operating mode separately, including servo-control and regulatory-control. This paper considers the problem where an optimal controller for one of these modes has to operate in a different mode than the one for which it was tuned. A weighted performance degradation index is analyzed and an intermediate tuning rule is proposed for fractional-order PID controllers, taking into account a robustness constraint. This rule serves as a proposal for further research on the application of this methodology in the design of tuning rules for FOPID controllers.
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