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Čech, M. and Schlegel, M. : The fractional-order PID controller outperforms the classical one . Process control 2006, p. 1-6, Technical University , Pardubice , 2006.


The three-parameter PID controller is the most popular industrial controller thanks to its simplicity. Only two more parameters arise after considering the integrator and derivator of arbitrary real order. Such a generalized controller is called fractional-order PID controller (FPID). Moreover, these two parameters (the order of integrator and derivator) still have a clear physical interpretation. This paper extends the results of the author’s previous papers where the robustness regions method for traditional PID controller was discussed. The aim of this paper is to present a generalized robustness regions method for the FPID controller. The proposed procedure allows to define several frequency domain closed loop requirements simultaneously - gain and phase margins, limitations of sensitivity functions, proper bandwidth. The final example shows that the FPID controller ensures the fulfillment of stricter closed-loop requirements than the traditional PID.

Detail of publication

Title: The fractional-order PID controller outperforms the classical one
Author: Čech, M. ; Schlegel, M.
Language: English
Date of publication: 13 Jun 2006
Year: 2006
Type of publication: Papers in proceedings of reviewed conferences
Title of journal or book: Process control 2006
Page: 1 - 6
ISBN: 80-7194-860-8
Publisher: Technical University
Address: Pardubice
Date: 13 Jun 2006 - 16 Jun 2006
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fractional-order controller, PID, robustness regions, Nyquist plot shaping


 author = {\v{C}ech, M. and Schlegel, M.},
 title = {The fractional-order PID controller outperforms the classical one},
 year = {2006},
 publisher = {Technical University },
 journal = {Process control 2006},
 address = {Pardubice },
 pages = {1-6},
 ISBN = {80-7194-860-8},
 url = {},