A time moments approach to the design of robust fractional PID controllers

The purpose of this paper is the synthesis of fractional PID controllers ensuring robustness to system gain variations. Robustness is specified by an open loop reference model derived from the CRONE template, where the fractional order allows robustness to gain variations. The tuning of the controller parameters is performed thanks to the method of moments. Numerical examples are proposed to illustrate the capabilities of this tuning technique.