**Commenced**in January 2007

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##### Robust Fractional-Order PI Controller with Ziegler-Nichols Rules

**Authors:**
Mazidah Tajjudin,
Mohd Hezri Fazalul Rahiman,
Norhashim Mohd Arshad,
Ramli Adnan

**Abstract:**

In process control applications, above 90% of the controllers are of PID type. This paper proposed a robust PI controller with fractional-order integrator. The PI parameters were obtained using classical Ziegler-Nichols rules but enhanced with the application of error filter cascaded to the fractional-order PI. The controller was applied on steam temperature process that was described by FOPDT transfer function. The process can be classified as lag dominating process with very small relative dead-time. The proposed control scheme was compared with other PI controller tuned using Ziegler-Nichols and AMIGO rules. Other PI controller with fractional-order integrator known as F-MIGO was also considered. All the controllers were subjected to set point change and load disturbance tests. The performance was measured using Integral of Squared Error (ISE) and Integral of Control Signal (ICO). The proposed controller produced best performance for all the tests with the least ISE index.

**Keywords:**
PID Controller,
Ziegler-Nichols Tuning,
steam temperature control,
fractional-order PID controller,
PI
control tuning

**Digital Object Identifier (DOI):**
doi.org/10.5281/zenodo.1087426

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