Özet:
This paper presents some classical controller design techniques for the fractional order case. New robust lag, lag-lead. PI controller design methods for control systems with a fractional order interval transfer function (FOITF) are proposed using classical design methods with the Bode envelopes of the FOITF. These controllers satisfy the robust performance specifications of the fractional order interval plant. In order to design a classical PID controller, an optimization technique based on fractional order reference model is used. PID controller parameters are obtained using the least squares optimization method. Different PID controller parameters that satisfy stability have been obtained for the same plant. (C) 2011 ISA. Published by Elsevier Ltd. All rights reserved.