Control performance enhancement using fractional PIλDμ controller for first order time delay systems

In this paper; a robust fractional order PID controller is designed whose gains are calculated using Ziegler-Nichols tuning rules based on the continuous cycling method. A Set point filter is used to reduce the undesirable overshoot. The closed loop response of the designed controller is verified on two first order plus time delay processes. Nominal and robust control performance is achieved with the designed fractional order PID controller compared to the other methods reported in the literature.