Velocity control of a DC motor based on fractional order PI and IMC-based fractional order controllers

Abstract

In this paper, two fractional order controllers are employed to control the angular velocity of a permanent magnet DC motor. A fractional order PI controller with isodamping property is appropriately designed to achieve the desired phase margin and gain crossover frequency requirements. Moreover, by selecting a fractional order filter in internal model control (IMC) structure, an IMC-based fractional order controller is designed. These two fractional order controllers are utilised for velocity control of a laboratory DC servomechanism system. The experimental results demonstrate the capability of these fractional order controllers in the desired angular velocity tracking and load disturbance rejection.