An output feedback approach to the design of robust fractional PI and PID controllers

Abstract The purpose of this paper is the synthesis of fractional PI / PID controllers ensuring robustness to the system gain variations. Based on output feedback technique, the controller is derived using Lyapunov stability condition expressed in terms of LMIs (Linear Matrix Inequalities). Time domain constraints are introduced thanks to the equality of moments between the closed-loop system and its fractional reference model. Numerical examples are given to demonstrate the proposed approach.

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