Servo/regulation intermediate tuning for fractional order PID controllers

In this paper a Weighted Performance Degradation index, that considers the importance and balance between the servo and regulation operation modes is presented. The minimization of this index, with a robustness constraint, allows the user to find a tuning procedure for fractional-order PID controllers that depends on the information provided by a first-order-plus-dead-time model of the process. Obtained results show that the proposed approach achieves an improvement for the control system overall performance, considering the servo/regulation trade-off.