Control of the Angular Position of a Rotary Torsion Plant Using a 2DOF FO PID Controller

In this paper, a 2DOF FO PID (2 Degrees of Freedom Fractional Order Proportional Integral Derivative) controller is employed to control the angular position of the rotational load of a rotary torsion plant. Such a plant comprises a DC servomotor with gear train mounted on a cubic solid aluminium frame. The horizontal shaft of the servo is able to rotate a flexible coupling attached to a rotational load. The 2DOF IO (Integer Order) PID controller becomes a 2DOF FO PID controller by making fractional all derivative and integral terms of the algorithm. This work compares experimentally the control performances of the 2DOF FO PID and the 2DOF IO PID feedback control systems. The obtained results proved that the FO 2DOF PID controller performs better because such a controller couses the controlled output, the angular position of the rotary load, to show a lower percent overshoot as well as a shorter settling time.