Abstract
Abstract In this paper we propose a new tuning rule called FOMRoT for integer PID and PI controllers. Based on a fractional order model, the devised tuning rule aims at providing a good performance in both set-point tracking and load disturbance rejection tasks, with a constraint on the maximum sensitivity. The comparison with other tuning rules which also deal with these trade-offs shows the effectiveness of the tuning rule, which can be applied with processes with different self-regulated dynamics without the need to change the structure of the considered model.
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