A numerical study for plant-independent evaluation of Fractional-Order PID controller performance 

Baris Baykant Alagoz, Aleksei Tepljakov, Celaleddin Yeroglu, Emmanuel Gonzalez, Hassan Hossein Nia Kani, Eduard Petlenkov

Research output: Contribution to journalConference articleScientificpeer-review

5 Citations (Scopus)


A stunning outcome of fractional calculus for control practice are fractional-order PID (FOPID) controllers. Based on their experimental and numerical results, several studies have reported improvements in control performance of closed loop control systems by FOPID controllers compared to classical PID controllers. However, the industry at large is still cautious about adopting FOPID controllers because of the lack of concrete data about the related cost-benefit trade-off. Main concerns arise at the point that there have not been a quantitative evaluation scheme that clearly demonstrates for which concrete cases FOPID controllers can provide considerable improvements in control. Therefore, there is a need for more thorough theoretical and quantitative demonstrations. To that end, this study presents a plant function independent evaluation methodology to reveal inherent advantages of FOPID control. Impacts of two additional controller coefficients, namely fractional orders of differentiator and integrator, are analyzed in the frequency domain and their contributions to open loop gain maximization, phase margin and Reference to Disturbance Rate (RDR) performance are investigated.

Original languageEnglish
Pages (from-to)539-544
Issue number4
Publication statusPublished - 2018
Event3rd IFAC Conference on Advances in Proportional-Integral-Derivative Control - Ghent, Belgium
Duration: 9 May 201811 May 2018


  • disturbance rejection
  • Fractional-order PID Control
  • PID controller
  • robust performance
  • stability

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