Novel Fractional Order Controller Design for First Order Systems with Time Delay

The generalization of the PID controller, involving a non-integer integrator and differentiator, adds two extra degrees of freedom. In this way, the fractional order PID (FO-PID) controller can achieve better control performance than the integer order PID controller. The paper presents a novel, simple to use, fractional order controller design for first order time delay systems. Using first order with time delay models, a wide array of industrial systems can be modeled. The proposed fractional controller is an fractional order integrative one with two degrees of freedom. Experimental results obtained for a benchmark problem - the DC speed control - proves the efficiency of the proposed method. The robustness analysis is also performed.