Fractional Order Proportional and Derivative Controller Synthesis for A Class of Fractional Order Systems: Tuning Rule and Hardware-in-the-loop Experiment

In recent years, fractional order systems have attracted more and more attention in various field, studies on real systems have revealed inherent fractional order dynamic behavior. It is intuitively true that these fractional order models require the corresponding fractional order controllers to achieve excellent performance. In this paper, a fractional order PD mu controller is designed systematically, to control a class of fractional order systems, the performance of the proposed PD mu controller designed for the fractional order system is compared with both the integer order and fractional order controllers which are designed for the approximate integer order system in the simulation and the hardware-in-the-loop experiment respectively.