Implementation of fractional order PID controller based on recursive oustaloup'e filter

In the paper Fractional Order PID controller implementation is presented. Main idea of the paper is to prove that fractional order controllers can be easy implemented in PLC. Proposed controller was created for integer order plant which was heater with fan where only temperature could be controlled and air flow was constant. Fractional transfer functions were approximated as Recursive Oustaloup'e Filter and discretized with Tustin method. The majority of algorithms were created in MatLab/Simulink and could be easy converted into Structure Text language with PLC Coder toolbox. The last part of the paper includes experiment results and comparison with classical integer order PID controller.