A Parameter Tuning Method for Fractional Order PD Controllers

摘要

A simple parameter tuning-method for fractional order PD (FO-PD) controllers is investigated in this article. The proposed tuning method is based on the convex-stability-region, defined by peak and the stability boundary locus's corner points. The centroid of convex-stability-region is calculated in the $k_{p}$ - kd plane. After obtaining the stability region of the system, the centroid of the stability region can be determined to develop the proposed method. Comparing with the literature, the proposed method does not require complex graphical or numerical methods. Thus, it is computationally efficient and not time-consuming. Besides, this simple tuning method ensures the stability of the closed-loop system. The effectiveness and robustness of the proposed method is illustrated with some comparative examples. The results given in the final section demonstrate satisfactory results compare to other tuning methods.