A Comparison between the FOTID and FOPID Controller for the Close-Loop Speed Control of a DC Motor System

This paper compares the ability of integer and fractional order controllers towards the requirement to achieve the desired control performance. A classical speed control problem of the DC motor is considered as the control objective, against which the effectiveness of the fractional order PID (FOPID) and the fractional order TID (FOTID) controllers are tested. An actuating error minimization-based time-domain procedure is adopted with the help of optimization algorithms for the parameter evaluation of the applied controllers. The robustness of the controllers is tested under the influence of parameter variations, and disturbances. Although the time response of FOPID and FOTID are almost identical, the FOTID controller shows superior disturbance rejection and reference tracking capabilities.