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Journal of Applied Nonlinear Dynamics
Miguel A. F. Sanjuan (editor), Albert C.J. Luo (editor)
Miguel A. F. Sanjuan (editor)

Department of Physics, Universidad Rey Juan Carlos, 28933 Mostoles, Madrid, Spain


Albert C.J. Luo (editor)

Department of Mechanical and Industrial Engineering, Southern Illinois University Ed-wardsville, IL 62026-1805, USA

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Tuning of PI-PD Controller Based on Standard Forms for Fractional Order Systems

Journal of Environmental Accounting and Management 8(1) (2019) 5--21 | DOI:10.5890/JAND.2019.03.002

Furkan Nur Deniz, Ali Yüce, Nusret Tan

Department of Electrical and Electronics Engineering, Inonu University, Malatya, Turkey

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In this paper, a PI-PD controller tuning method is proposed for fractional order systems based on standard forms. SBL fitting integer order approximation method is directly used to obtain appropriate integer order transfer function required in standard forms for the controller design. The controller tuning parameters for approximate transfer function are calculated by using optimization of ISTE integral performance criterion. The obtained tuning parameters are performed for fractional order transfer function. Results give good performance. The results show that the performance of the proposed method is practicable and that the controller parameters for the fractional order models can be tuned by using its integer order approximation transfer function. Also, the results shows that the other methods such as Oustaloup’s and Matsuda’s methods which enable one to obtain integer order approximate transfer functions, cannot be used directly because they do not conform to the standard form.


This work is supported by the Scientific and Research Council of Turkey (T¨UB˙IAK) under Grant no. EEEAG115E388.


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