Robust PI/PID parameter surfaces for a class of fractional-order processes

Abstract Recently, PID tuning rules based on integer-order model set approach has been developed. This paper shows how they can be enhanced through extending the set of a priori admissible systems to fractional-order form. Firstly, such set covers wider range of real process plants. Secondly, a new parameter affecting the model set span was introduced. It can help to reach the proper robustness/performance ratio especially in the case when the system has a lower order which is known. The authors believe that the procedure of fully automatic computing of robust PI/PID parameter surfaces will in the future lead to huge dataset that will serve as a base for deriving mature 2DOF PI/PID tuning rules based on various requirements.

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