Electric Servo Drive with Fractional-Order PI Speed Controller

This paper is focused on the design and verification of the characteristics of a speed control loop with a fractional-order PI controller. The controller parameters are tuned by two methods: the pole placement method and the phase margin method. The fractional-order controller itself has been implemented in two ways, namely using MATLAB FOMCON Toolbox and in the form of finite power series expansion. The characteristics of the speed control loop using both tuning methods and with both types of controllers have been verified experimentally on an industrial servo drive with permanent magnet synchronous motors.