Commenced in January 2007
Frequency: Monthly
Edition: International
Paper Count: 31113
A Design of Fractional-Order PI Controller with Error Compensation

Authors: Mazidah Tajjudin, Norhashim Mohd Arshad, Ramli Adnan


Fractional-order controller was proven to perform better than the integer-order controller. However, the absence of a pole at origin produced marginal error in fractional-order control system. This study demonstrated the enhancement of the fractionalorder PI over the integer-order PI in a steam temperature control. The fractional-order controller was cascaded with an error compensator comprised of a very small zero and a pole at origin to produce a zero steady-state error for the closed-loop system. Some modification on the error compensator was suggested for different order fractional integrator that can improve the overall phase margin.

Keywords: Ziegler-Nichols Tuning, Fractional-order PI, Oustaloup's Recursive Approximation, steam temperature control

Digital Object Identifier (DOI):

Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 1990


[1] Y. Chen, H. Dou, B. M. Vinagre, and C. A. Monje, "A Robust Tuning Method For Fractional Order PI Controllers," in Proceedings of the 2nd IFAC Workshop on Fractional Differentiation and its Applications, 2006.
[2] B. M. Vinagre, I. Podlubny, A. Hernandez, and V. Feliu, "Some Approximations of Fractional Order Operators Used in Control Theory and Applications," Fractional calculus and applied analysis, vol. 3, no. 3, pp. 231-248,2000.
[3] I. Podlubny, "Fractional-order Systems and PIADii," IEEE Transaction on Automatic Control, vol. 44, no. 1, pp. 208-214,1999.
[4] C. a. Monje, B. M. Vinagre, V. Feliu, and Y. Chen, "Tuning and auto-tuning of fractional order controllers for industry applications," Control Engineering Practice, vol. 16, no. 7, pp. 798-812, Jul. 2008.
[5] C. A. Monje, B. M. Vinagre, Y. Q. Chen, V. Feliu, P. Lanusse, and J. Sabatier, "Proposals for Fractional PID Tuning," 2005, vol. 024, pp. 2¬7.
[6] A. Narang, S. L. Shah, and T. Chen, "Tuning of fractional PI controllers for fractional order system models with and without time delays," in American Control Conference, 2010, pp. 6674-6679.
[7] V. Feliu-Batlle, R. R. Perez, and L. S. Rodriguez, "Fractional robust control of main irrigation canals with variable dynamic parameters," Control Engineering Practice, vol. 15, no. 6, pp. 673-686, Jun. 2007.
[8] C. Wang and Y. Chen, "Fractional order proportional integral (FOPI) and (proportional integral) (FO(P1)) controller designs for first order plus time delay (FOPTD) systems," 2009 Chinese Control and Decision Conference, vol. 2, no. 3, pp. 329-334, Jun. 2009.
[9] R. Barbosa, J. A. T. Machado, and I. S. Jesus, "On the Fractional PID Control of a Laboratory Servo System," in Proceedings of the 17th World Congress The International Federation of Automatic Control (IFAC), 2008, pp. 15273-15279.
[10] J. J. Gude and E. Kahoraho, "Modified Ziegler-Nichols method for fractional PI controllers," in Conference on Emerging Technologies & Factory Automation, 2010, no. 2, pp. 1-5.
[11] D. Valerio and J. S. da Costa, "Tuning of fractional PID controllers with Ziegler—Nichols-type rules," Signal Processing, vol. 86, no. 10, pp. 2771-2784, Oct. 2006.
[12] I. Podlubny, L. Dorcak, and I. Kostial, "On Fractional Derivatives , Fractional-Orlder Dynamic Systems and PIA, Dia Controllers," in Proceedings of the 36th Conference on Decision & Control, 1997, no. December, pp. 4985-4990.
[13] F. Merrikh-Bayat, "Rules for selecting the parameters of Oustaloup recursive approximation for the simulation of linear feedback systems containing PIXDia controller," Communications in Nonlinear Science and Numerical Simulation, vol. 17, no. 4, pp. 1852-1861, Apr. 2012.
[14] F. Merrikh-Bayat, "Efficient method for time-domain simulation of the linear feedback systems containing fractional order controllers.," ISA transactions, vol. 50, no. 2, pp. 170-6, Apr. 2011.
[15] D. Valerio and J. S. da Costa, "Tuning of fractional PID controllers with Ziegler—Nichols-type rules," Signal Processing, vol. 86, no. 10, pp. 2771-2784, Oct. 2006.