Fractional order PID control of a DC-motor with elastic shaft: a case study

In this paper, a fractional order PID controller is investigated for a position servomechanism control system considering actuator saturation and the shaft torsional flexibility. For actually implementation, we introduced a modified approximation method to realize the designed fractional order PID controller. Numerous simulation comparisons presented in this paper indicate that, the fractional order PID controller, if properly designed and implemented, will outperform the conventional integer order PID controller.