Robust Fractional Order Control of a DC Motor Based on Particle Swarm Optimization

This paper presents a robust stable controller for speed control of a linear permanent magnet DC motor. A fractional PD mu controller is presented and the optimal parameters of this controller are obtained using Particle Swarm Optimization (PSO) technique. Interval uncertainty is considered in the parameters of the DC motor. Stability of the closed loop system with the proposed controller in presence of interval uncertainty is verified through the extension of Kharitanov's theorem for fractional order systems. Simulation results demonstrate the successful performance of the proposed controller.