Abstract
This paper provides a quantitative comparison between the performance provided by the use of Proportional-Integral-Derivative (PID) and Fractional-Order Proportional-Integral-Derivative (FOPID) controllers for the control of second-order processes with inverse response based on the integrated absolute value of the error (IAE index). These controllers are designed in order to achieve an optimal performance in both, set-point tracking task and regulatory control operation, while robustness considerations are taken into account, and, therefore, also the trade-of between robustness and performance of the control system is considered. The performance comparison and example, show that FOPID controllers achieve higher performance that PID controllers mainly for processes with larger normalized dead times as well when more robustness should be considered in the closed-loop system. These advantages are due to the use of the fractional parameter µ associated to the derivative part of the FOPID controller.
Published Version
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