Design of a MRAC-Based Fractional order PIλDμ Regulator for DC Motor Speed Control

This paper deals with the design of a fractional-order model reference adaptive control (MRAC)-based (PID mu)-D-lambda controller using MIT rule and the ideal Bode transfer function for the speed control of a DC motor. The ideal Bode's model is based on a frequency domain fractional order integrator and the so-called singularity function approximation method is used to convert it into rational function. The designed (PID mu)-D-lambda controller parameters are obtained such that the feedback control system has minimum performance index. Simulation examples illustrate the effectiveness of the proposed PID control adjustment algorithm showing the improvement of the closed loop output behavior.