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Loop‐Shaping and Easy Tuning of Fractional‐Order Proportional Integral Controllers for Position Servo Systems
Author(s) -
Lino P.,
Maione G.
Publication year - 2013
Publication title -
asian journal of control
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 0.769
H-Index - 53
eISSN - 1934-6093
pISSN - 1561-8625
DOI - 10.1002/asjc.556
Subject(s) - control theory (sociology) , phase margin , robustness (evolution) , overshoot (microwave communication) , settling time , pid controller , servomechanism , position (finance) , servo , step response , mathematics , computer science , engineering , control engineering , control (management) , bandwidth (computing) , temperature control , amplifier , computer network , biochemistry , chemistry , telecommunications , operational amplifier , finance , artificial intelligence , economics , gene
This paper develops simple formulas directly relating performance specifications to control parameters of fractional‐order proportional integral ( PI ) controllers for position servo systems. With the proposed controller settings, the open‐loop frequency response achieves a good phase margin, that remains constant in a wide range around the crossover frequency. Consequently, the tuning results in high stability robustness to gain variations in the loop. Moreover, the fractional order integration also leads to limited overshoot and short settling time. Laboratory experiments confirm simulation results.