An analytical design of fractional order proportional integral differential controller for robust velocity servo

This paper deals with the study of the typical first order velocity servo system tuning method based on factional order Proportional Integral Derivative (FOPID) controller in allusion to improve the closed-loop system's dynamic performance and robustness. The methods are practical and simple to apply compared with the integer order proportional, integral and derivative (IOPID) controller. The main contents include the design of controller and simulation for velocity servo system. In this paper, both the FOPID controller and FOPI controller designed by the proposed tuning method can improve the performance of the first order velocity servo system. Furthermore, following the proposed systematic design schemes, the FOPID controller outperforms the FOPI controller. Simulation results are presented to validate the proposed tuning schemes.