Tuning of <i>PI</i> <sup>λ</sup> Controllers Based on Gain and Phase Margins and its Application in Water Tank

Abstract

This paper discusses the parameters tuning of fractional-order controller satisfying the desired gain-margin and phase-margin specifications in terms of a stability equation method applicable to fractional-delay systems. The tuning procedure is then applied to the level control of double water tank, which is modeled as a second-order transfer function with time-delay. The Matlab simulations and the experiments on the water tank device show the effectiveness of the tuning and the benefits of using fractional-order controllers.