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A novel fractional order (FO) fuzzy Proportional-Integral-Derivative (PID)controller has been proposed in this paper which works on the closed loop errorand its fractional derivative as the input and has a fractional integrator inits output. The fractional order differ-integrations in the proposed fuzzylogic controller (FLC) are kept as design variables along with the input-outputscaling factors (SF) and are optimized with Genetic Algorithm (GA) whileminimizing several integral error indices along with the control signal as theobjective function. Simulations studies are carried out to control a delayednonlinear process and an open loop unstable process with time delay. The closedloop performances and controller efforts in each case are compared withconventional PID, fuzzy PID and PI{\lambda}D{\mu} controller subjected todifferent integral performance indices. Simulation results show that theproposed fractional order fuzzy PID controller outperforms the others in mostcases.

A Novel Fractional Order Fuzzy PID Controller and Its Optimal Time Domain Tuning Based on Integral Performance Indices