Realizations of fractional-order PID loop-shaping controller for mechatronic applications

Stavroula Kapoulea, Costas Psychalinos*, Ahmed S. Elwakil, S.H. Hossein Nia Kani

*Corresponding author for this work

Research output: Contribution to journalArticleScientificpeer-review

9 Citations (Scopus)


A novel procedure for the realization of a fractional-order PID loop-shaping controller, suitable for precision control of mechatronic systems, is introduced in this work. Exploiting appropriate tools, the controller function is approximated as a whole, leading to a simple form of integer-order approximation, when compared to the case where each intermediate part of the PID transfer function is approximated. This leads to a direct implementation, composed of conventional active and passive elements. Simulation and experimental results, derived from the OrCAD PSpice simulator and a Field-Programmable Analog Array respectively, verify the efficient functionality of the proposed implementation procedure.

Original languageEnglish
Pages (from-to)5-12
Publication statusPublished - 2021


  • Curve-fitting approximation technique
  • Field-programmable analog array
  • Fractional-order PID controller
  • Mechatronics
  • Padé approximation


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