A Robust Internal Model-Based Fractional Order Controller for Fractional Order Plus Time Delay Processes

摘要

This letter proposes a fractional order internal model controller (FO-IMC) for a fractional order plus time delay (FrOPTD) process model to satisfy desired gain margin (A(m)) and phase margin (phi(m)) specifications. A method is proposed to solve four equations arising from the A(m) and phi(m) specifications, which also generates solution of the system gain-cross-over frequency (omega(g)) and phase-cross-over frequency (omega(p)) as intermediate variables. The designed FO-IMC is implemented on laboratory DC servo-system and compared with other integer order controller and fractional order controller.