Abstract
Nowadays, design and tuning of controllers with predefined structures are among the most popular topics in control system theory. During the last decade, many studies have focused on designing fixed-structure fractional-order compensators. This paper presents a generalized version of fractional-order compensators to achieve the required magnitudes and phases at two given frequencies (for example, to achieve desired phase and gain margins with adjustable cross frequencies). In this generalization, at first some basic analysis of the phase behaviour of this introduced type of fractional-order compensators is presented. Also, exact formulas are found for designing this family of compensators in order to provide the aforementioned control objective. Finally, a numerical example is presented to confirm the effectiveness of the proposed design method in control systems.
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