Fractional-Order PII1/2DD1/2 Control: Theoretical Aspects and Application to a Mechatronic Axis

Fractional Calculus is usually applied to control systems by means of the well-known PI?D? scheme, which adopts integral and derivative components non-integer orders ? µ. An alternative approach add equally distributed fractional-order terms PID scheme instead replacing integer-order (Distributed Order PID, DOPID). This work analyzes properties DOPID with five terms, that PII1/2DD1/2 (the half-integral half-derivative are added classical PID). The frequency domain responses controllers compared, then stability features controller discussed. A Bode plot-based tuning method for proposed position a mechatronic axis. closed-loop behaviours compared simulation experimental tests. results show criterium allows remarkable reduction in error respect similar effort maximum torque. For considered axis trapezoidal speed law, tracking ?71% mean ?77%, correspondence limited increase torque (+5%) (+4%).