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Go to Editorial ManagerIn this paper, a design procedure which assumes general integer or noninteger order plant models ‘also can be unknown’ has been adopted to tune PID and fractional order PI (FOPI) controller. The design procedure depends on some specifications of frequency response of open loop system to ensure performance and robustness of step response of closed loop system. Firstly, the procedure is applied to integer order conventional PID (IOPID) controller, and then it has been extended to FOPI. Extensive simulation study has been made to investigate the performance of the obtained controllers, and also to compare between the two controllers. The simulation study has showed the validity and that the proposed controllers have good features in all of control demands, where it shows that these controllers have fast rise time with no overshoot and negligible steady state error. Also, it has showed that FOPI controller performs better than IOPID one.
Using simple analytical procedure, a tuning rules for two degree of freedom (2-DOF) PI/PID controllers are presented. The proposed tuning algorithm assumes first order plus delay time and second order plus delay time as plant models to be controlled. The validity and features of the proposed tuning rules have been investigated by computer simulation study. Simulation study showed that the presented controllers have high performance response for step input changes and also that these rules are robust for load disturbance.