Performance comparison between a PID SIMC and a PD fractional controller

Abstract

This paper presents the development and design of a fractional PD controller for a second order system with a pole at the origin, which approximates the dynamic behavior of a servomotor used in the field of robotics. FOPD is contrasted with a PID SIMC controller to analyze the system robustness. Four tests are performed to evaluate the robustness of the system which are: plant gain variation, variable setpoint, external perturbation and adding a random noise. Results show that fractional controller is more robust than PID SIMC controller.