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Review of fractional PID controller

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 Mechatronics 38 (2016) 29–41

Contents lists available at ScienceDirect

Mechatronics
journal homepage: www.elsevier.com/locate/mechatronics

Review of fractional PID controller

Pritesh Shah a,∗, Sudhir Agashe b
a
Symbiosis Institute of Technology, Symbiosis International University, Pune, India
b
Department of Instrumentation and Control, College of Engineering, Pune, India

a r t i c l e i n f o a b s t r a c t

Article history: Fractional calculus has been studied for over three centuries, and it has multifarious applications in sci-
Received 28 October 2015 ence and engineering. This review investigates its progress since the first reported use of control systems,
Revised 1 June 2016
covering the fractional PID proposed by Podlubny in 1994, and is presenting a state-of-the-art fractional
Accepted 20 June 2016
PID controller, incorporating the latest contributions in this field. It highlights developments in the field
of fractional PID controllers, including their design and tuning, as well as explores their various versions.
Keywords: Software tools associated to the design of fractional PID controllers are also discussed.
Fractional calculus
Fractional PID controller © 2016 Elsevier Ltd. All rights reserved.
Fractional PID tuning
Software tools for fractional PID controller
Fractional order controller

1. Introduction in fractional order controller is reviewed in detail. Also, different

Currently, fractional order controllers are being extensively used
by many scientists in order to achieve the most robust perfor-
mance of the systems [1–6]. The fractional PID controller was in-
troduced by I. Podlubny in 1994 [3] for a fractional order system.
After this work, various other engineers designed fractional PID
controllers using different designs and tuning methods. In this re-
view paper, different design methods along with available software
tools and tuning methods are described. Basic definitions of frac-
tional calculus are introduced with their use in control systems (or
in engineering applications). A brief introduction of fractional or-
der controller is presented with basic equations, general block dia-
gram and coverage of the fractional PID controller. Pioneering work
Abbreviations: ASMC, Adaptive sliding mode controller; AVR, Automatic volt-
age regulator; CRONE, Commande robuste d’Ordre Non Entier meaning Non-integer-
order robust control; IAE, Integral absolute error; IMC, Internal model control; ISE,
Integral square error; ITAE, Integral time absolute error; ESC, Extremum seeking
control; FO-PID, Fractional order proportional integral derivate controller; FOM-
CON, Fractional-order modeling and control; FOPDT, First order plus delay time;
FOPI, Fractional order proportional integral controller; FPGA, Field programmable
gate array; FPID, Fractional proportional integral derivate controller; GL, Grunwald-
Letnikov; HIL, Hardware in loop; GA, Genetic algorithm; LTI, Linear time invariant;
MIGO, Ms constrained integral gain optimization; MSE, Mean square error; NSGA,
Non-dominated sorting genetic algorithm; PID, Proportional integral derivate con-
troller; PSO, Particle swarm optimization; RL, Riemann-Liouville; QFT, Quantitative
feedback theory; SMC, Sliding mode controller; TID, Tilted proportional and integral.
∗
Corresponding author.
E-mail address: pritesh.ic@gmail.com (P. Shah).
versions of non integer and fractional PID controller like CRONE
(Commande Robuste d’Ordre Non Entier), TID (Tilted Proportional
and Integral), non linear FPID controller, FO[PI], FO[PD] and vari-
able fractional PID, etc. have been covered briefly.
Tuning of a fractional PID controller is a challenging work, be-
cause there are five parameters to tune, which means two more
parameters as compared to a classical PID controller. Different tun-
ing methods (viz. Ziegler-Nichols method, auto tuning, self-tuning
method, optimization based tuning) for the fractional order con-
troller are also reviewed in this work. There are a few software
tools available for designing and tuning of fractional order con-
trollers. Their features are listed out on fractional order controller
design.
The paper is organized as follows. Section 2 covers the basics
of fractional calculus in brief besides important definitions of frac-
tional integration and differentiation along with their importance
in the control system. A general note on the fractional order con-
troller with diagrams and equation is provided in Section 3. Pio-
neering work of fractional order controllers including different ver-
sions of fractional PID is presented in Section 4. Section 5 emcom-
passes different tuning methods like the Ziegler-Nichols method,
auto tuning, self-tuning methods and optimization based tuning
for fractional PID controllers. Different software tools associated
to implementation and analysis of fractional order controllers are
described in Section 6. Finally, in Section 7, conclusions regarding
fractional PID controllers are given followed by references.

http://dx.doi.org/10.1016/j.mechatronics.2016.06.005
0957-4158/© 2016 Elsevier Ltd. All rights reserved.
30 P. Shah, S. Agashe / Mechatronics 38 (2016) 29–41

2. Fractional calculus The value of the binomial coefficient is given by

 
n (n + 1 )
Fractional calculus deals with theory of integers and derivatives =
of arbitrary numbers. It also generalizes the notation for integer r (r + 1 )(n − r + 1 )
order and n fold integration. Fractional calculus exhibits both short The Gamma function used in the above equation can be defined by
and long term memory. Short term memory corresponds to the the following equation
distribution of time constants, whereas long-term memory leads  ∞
x−1
to lack of a specific timescale [7]. The fractional order derivatives (x ) = t e−t dt, (Z ) > 0 (2)
and integrals provide a powerful instrument for the description of 0

memory. The GL (Grunwald-Letnikov) definition is used for numerical eval-

uations. This definition is very beneficial in obtaining a numerical
2.1. History of fractional calculus solution of fractional differential equations [15].

Fractional calculus is also three centuries old as is conventional
calculus, but is not very popular in the research field. However,
since the last few decades, many researchers have done work in
different areas of science and engineering (control system, speech
signal processing, modeling, etc.) using fractional calculus [7–10].
In a letter dated 30th September 1695, L’Hopital wrote to Leib-
niz asking him for a particular notation that he had used in his
publication for the n-th derivative of a function in the case when
n = 1/2. Leibniz’s response was “This will be equal to
d0.5 x
dt 0.5
an apparent paradox from which one day useful consequences
will be drawn. ” With these words, fractional calculus was born.
Scientific community celebrate 30th September as the birthday of
fractional calculus, and consider Gottfried Leibniz as its father [11].
Following L’Hopital’s and Leibniz’s first inquisition, fractional
calculus was primarily a study reserved for the best minds in
mathematics, not in any real applications. Fourier, Euler, Heaviside,
Goldman, Laplace, Miller and Ross, Oldham, Spanier etc. are among
the many that dabbled with fractional calculus and its mathe-
matical consequences. In 1812, Laplace defined a fractional deriva-
tive using an integral and S. Lacroix discussed the fractional order
derivative for the first time in 1819 [11].
The first application of fractional calculus was developed by N.
Abel in 1823. He discovered that the solution of the integral equa-
tion for the tautochrone problem could be obtained in the form of
order of 0.5 [8].
The first systematic study of fractional calculus was carried out
in 1832 by J. Liouville, who was mostly fascinated by brief com-
ments of Laplace and Fourier and by N. Abel’s demonstration. In
1990, M. Axtell [12] discussed the application of fractional calculus
to the control systems. He introduced different integral operators
by using Laplace transforms. He recommended extensive research
of fractional calculus in control systems to identify its impact. A
detailed review of the history of fractional calculus is available in
the paper of J. Machado et al. [13].
2.2. Definitions
There are many definitions of fractional calculus: Starting from
n-fold definitions to other different variations related to defini-
tions. The following definitions of fractional calculus are used
widely in the area of control system [14].
2.2.1. Grunwald-Letnikov definition
The Grunwald-Letnikov (GL) definition is expressed as
[ t−a
]  
 h
α = lim 1 (−1 )r
n
f (t − rh )
a Dt (1)
h →0 hα r plicity of design and good performance including low percentage
r=0
where, [ t−a
h
] is integer part and a and t are the limits of operator.
n is the integer value which satisfies the condition n − 1 < α < n.
2.2.2. Riemann-Liouville definition
Liouville defined derivative of arbitrary order as an infinite se-
ries. The disadvantage is that the order must be limited to only
those values for which the series converges. He applied this the-
ory to the potential theory, and was the first to attempt solving
differential equations by fractional operators. Riemann used gener-
alization of a Taylor series in order to derive a formula related to
the integration of an arbitrary number.
It can be shown that the approaches proposed by Liouville and
Riemann can be abridged in a single formula. Manipulation with
the GL fractional derivatives defined as a limit of a fractional-
order backward difference is not convenient. In the RL (Riemann-
Liouville) fractional definition, it is a particular case of the inte-
grodifferential expression.
It is defined as the following
 n 
α n n −α 1 d t
f (τ )
a Dt = D J f (t ) = dτ (3)
(n − α ) dt a (t − τ )α−n+1
where, n is an integer which satisfies the condition n − 1 < α < n,
α is a real number, J is the integral operator and a and t are the
limits of integration. For instance, if α is 1.8, then n would be two
as 1 < 1.8 < 2.
The RL definition for the fractional integral and derivative is ap-
propriate for finding the analytical solution of simple functions like
et , tb , cos (t) [16].
2.2.3. M. Caputo definition
There are various definitions of fractional differentiation-
integrals available in many textbooks and research papers. The Ca-
puto definition is popular mostly in engineering applications [11],
as it directly connection between the type of the initial conditions
and the type of the fractional derivative. As stated by I. Podlubny
[3], this definition allows initial conditions such as y(0), y (0), not
like fractional condition such as y0.5 (0). Also, Caputo fractional
derivation of constant is bounded. It is defined by

α = 1 t
f n (τ )
a Dt dτ (4)
(n − α ) a (t − τ )α−n+1
where, n is an integer which satisfies the condition n − 1 < α <
n, α is a real number and a and t are the limit of integration.
RL definition serves a general notation of the general derivate,
while the Caputo derivate is a general notation of differentiation in
the classical manner [17].
3. Fractional PID controller
Proportional integral derivative (PID) controllers have been used
for several decades in industries for process control applications
[18]. The reason for their wide-ranging popularity lies in the sim-
overshoot and small settling time for slow process plants [18]. A
fractional PID controller is an extension of the classical PID con-
troller. The fractional order controllers are less sensitive to changes
 P. Shah, S. Agashe / Mechatronics 38 (2016) 29–41 31

of the main concerns in the design of the controller. Researchers

have used different methods of tuning like Ziegler-Nichols mod-
ified method, particle swarm optimization, neural network, etc.
[22–24].
A fractional PID controller works better in the following situa-
tions/applications:

• Five different specifications can be achieved, which is not pos-

sible in the case of classical PID controller.
• The fractional PID controller can easily attain the property of
iso-damping, compared to classical PID controller.
• For higher order systems, the performance of classical PID con-
troller deteriorates, whereas fractional PID controller provides
better results [25,26].
• For a system with long time delay, a fractional PID controller
provides better results than classical PID controller [27–30].
• A classical PID controller provides lower robust stability [18],
whereas fractional PID controller has more robust and stable
Fig. 1. Fractional PID controller converge. [1,31,32].
• It is difficult to control the system with nonlinearities using
classical PID controller, whereas the fractional PID controller
can perform better [33,34].
• The fractional PID controller can achieve better response for
non-minimum phase system.
• Mostly, non-linear system is linearized at different operating
points, and controllers are designed for different operating
Fig. 2. General block diagram of fractional PID controller. points, whereas one fractional PID controller is mostly sufficient
for non-linear system [34].

of parameters of a controlled system and controller. A fractional 4. Pioneering work in fractional order controllers
order controller can attain the property of iso-damping very easily
[19]. 4.1. Early work by Bode and Tustin
The generalized transfer function of this fractional PID con-
troller is given by: It was Bode [8], who started (in 1945) the use of fractional cal-
U (s ) KI culus in the area of control systems. A feedback amplifier for the
C (s ) = = KP + λ + KD sμ , (λ, μ ≥ 0 ) (5)
E (s ) s purpose of maintaining good linearity and stable gain (even though
the gain varies in the course of years) was designed. The follow-
where, C(s) is the controller output, U(s) is the control signal, E(s)
ing structure of controller for designing the feedback amplifier was
is the error signal, KP is the proportional constant gain, KI is the
used:
integration constant gain, KD is the derivative constant gain, λ is
the order of integration, and μ is the order of differentiator. A0
G (s ) = (6)
All the classical PID Controllers are particular cases of the frac- (s/ω0 )k + 1
tional controller, where λ and μ are equal to one (refer to Fig. 1) where, ω0 is the gain crossover frequency and A0 is the DC gain.
[20]. With regards to the PID plane, this means that instead of In 1958, years after Bode’s work in feedback design, Tustin pro-
jumping between four fixed points in the plane it is possible to posed a design for position control of massive objects using a frac-
move in this plane continuously [21]. In general, the range of frac- tional order control. A fractional-order open-loop transfer function
tional order considered is between 0 to 2. In this plane, was suggested in order to keep appropriate phase margins around
• If λ=1 and μ = 1, then it is classical PID controller. and below the gain crossover frequency (ωgc ) [35]. An open loop
• If λ=0 and μ = 1, then it is classical PD controller. transfer function of a system was proposed as:
• If λ=1 and μ = 0, then it is classical PI controller.  ω k
c
• If λ=0 and μ = 0, then it is classical P controller. G ( s ) = A0 (7)
s
In the fractional-order proportional integral derivative, (FOPID), where, ωc is the gain crossover frequency and A0 is the DC gain.
controller, I and D operations are usually of fractional order. There- In the above mentioned work, a word fractional PID controller was
fore, besides setting the proportional, derivative and integral con- not directly used. Later on, S. Manabe suggested the use of a frac-
stants KP , KI , KD , we also have to set two more parameters namely tional order controller for flexible spacecraft altitude control [36].
the order of fractional integration λ as well as fractional deriva- This design of the controller provided phase stabilization control in
tive μ. Finding an optimal set of values for KP , KI , KD , λ and μ in the lower frequency range.
order to meet the user specifications for a given process, it needs
parameter optimization in five-dimensional hyperspace [1]. 4.2. Non integer controller: CRONE
Fig. 2 demonstrates the general structure of a closed loop sys-
tem, wherein a fractional PID controller is used. The fractional con- The practice of using fractional-order controllers for the con-
trollers have two parameters more than the conventional PID con- trol of dynamic systems was started by A. Oustaloup, who devel-
troller, thus two more specifications can be met, which improves oped the so-called CRONE (Commande Robuste d’Ordre Non En-
the performance of the overall system can be improved. It can be tier, meaning Non-integer-order Robust Control) controller. The ad-
expected that the PIλ Dμ controller may enhance the performance vantages of the CRONE controller in comparison with the classical
of the system. The tuning of the fractional PID controller is one PID controller were demonstrated. Three different versions of the
32 P. Shah, S. Agashe / Mechatronics 38 (2016) 29–41
Fig. 3. Stability region of the fractional order system.
CRONE controller, viz. first, second and third generation controllers
were developed [37,38]. The non-integer order is an abstract con-
cept, which can be implemented only by approximation [39,40].
The first generation of the CRONE controller is given by:
C (s ) = C0 sα (8)
where, α and C0 ∈ R. This controller is very beneficial for gain-
like plant disturbance models as well as constant plant phase
around the frequency of interest. This is a kind of integration (Iα )
or derivate (Dμ ) fractional PID controller for different value of C0
and α .
The second generation of CRONE is derived by the following
equation. Firstly, the open loop transfer function is given by:
 ω α
F ( s ) = C ( s )G ( s ) =
cg
(9)
s face was demonstrated. The basic idea of the fractional PID con-
which is the same as Bode’s open loop transfer function of the gain
crossover frequency of ωcg . After the optimal curve is obtained in
the Nichols chart, the fractional order controller is given by:
F (s )
C (s ) = (10)
G (s )
where, F(s) is the open loop transfer function and G(s) is the plant
transfer function.
The third generation of the CRONE controller is robust not only
against plant gain variation, but also against model uncertainty, in-
cluding pole and zero placements. The objective of this generation
is to ensure that the closed loop gain will never get beyond a par-
ticular value. Once the desired open loop frequency response is
known, the controller structure is obtained in a similar manner as
the second generation [8].
4.3. Fractional order controller by J. Machado
In 1995 and 1997 [41,42], J. Machado proposed an algorithm for
the implementation of the fractional order controller in time do-
main approach for overcoming the limitations of the frequency do-
main. This approach is appropriate for digital implementations and
Z-transform analysis. In this work, three methods have been pro-
posed for approximation of the fractional order controller, namely
• Truncation and discrete time evaluation of the series resulting
from the definition of fractional calculus.
• 1st order function interpolation.
• 2nd order function interpolation.
The series truncation method is superior and easier to develop
than the other methods. For a good approximation, this method
requires a large number of terms and small sampling period. The
robustness of the fractional order controller as compared to the
classical controller was highlighted in the presence of the nonlin-
ear phenomena (saturation, dead zone, hysteresis and relay).
4.4. Introduction of fractional PID controller by I. Podlubny
I. Podlubny published the first report of a fractional PID con-
troller in 1994. A fractional order system was considered and ob-
served that fractional PID controller is a suitable way to control a
fractional order system. The PIλ Dμ controller is more flexible and
offers a better chance to adjust the dynamic properties of frac-
tional order systems. The Integral of Absolute Error (IAE) was con-
sidered as a performance index. All results of this work were veri-
fied by the numerical solution methods of fractional order differen-
tial equations [3]. The system was simulated for unit step as well
as unit impulse response. This report was the birth of the frac-
tional PID controller. The limitation of this work was that it can be
an application for linear systems with only constant coefficient.
The identification of the fractional order model of a heating sur-
troller was specified without citing any example [43]. It was more
emphasized on the identification of a system by fractional order.
Most important challenges with fractional order modeling are as
follows:
• To identify structure for fractional order model.
• Technical realization of fractional order controller.
• Methods for identification of model parameters.
• Physical interpretation of fractional-order derivatives and inte-
grals.
The Laplace transform formula for a new function of the
Mittag-Leffler type was used for analysis of the controller in an
open loop as well as a closed loop in 1999. It made it possi-
ble to obtain the explicit analytical solution of a linear fractional-
order system with a fractional PID controller. The PIλ controller
was designed using this method for a fractional order system. This
method is limited to linear systems with constant coefficients [44].
4.5. Stability of fractional PID Controller
The stability of fractional LTI system was investigated by I. Pe-
tras [31] based on Riemann surface. The stability and asymptotic
behavior of fractional order system were in the form of power law,
which shows long-term memory of fractional order system.
A stability analysis for fractional order between 1 and 2 was
investigated by M. Tavazoei and M. Haeri [32]. In this approach,
an equivalent linear time invariant system of integer order is ob-
tained from fractional order linear time invariant system. Later, the
stability of the equivalent system is determined using the ordinary
method. Two robust stability tests for fractional order system are
proposed in this paper by an interval matrix. The stability region
for different fractional order system is shown in Fig. 3.
A review paper on the stability of fractional order system by M.
Rivero et al. is available in [45]. They have discussed the stability
of the following system:
• A commensurate order transfer function.
 P. Shah, S. Agashe / Mechatronics 38 (2016) 29–41 33

Table 1
Different variations of fractional order controller.

Name Structure Remark

Bode/Tustin G(s ) = (s/ω )k +1

A0
0
CRONE C (s ) = C0 sα A. Oustaloup, first Generations
 ω α
CRONE F (s ) = C (s )G(s ) = scg A. Oustaloup, Second Generations
General FPID C (s ) = KP + sλ + KD sμ
KI
I. Podlubny
TID C (s ) = s−1T /n + sI + Ds B. Lurie
α
IMC Based C (s ) = K 1 + Ti1sα + γTsdαs+1 γ sα + 1 added to make proper TF
α
Non-Linear FPID u(t ) = KP |e(t )| sign(e(t )) + F. Merrikh-Bayat and N. Mirebrahimi
β
KD |Dμ e(t )| sign(Dμ e(t )) +


γ
KI
Dλ e(t )
sign(Dλ e(t ))
Modified FPI C (s ) = KP 1+sαTd s V. Feliu-Batlle et al.
Modified FPI C (s ) = KP 1+sαTd s s+s η Improved Steady-State Performance
FO[PD] C (s ) = KP (1 + KD s )μ Y. Luo and Y. Chen
 λ
FO[PI] C (s ) = KP 1 + KsI Y. Luo et al.
(1+Ti sμ )2
Modified FPID C (s ) = KC R. El-Khazali
 1+sμs/ωb r
Fractional Lead-Lag Compensator Cr (s ) = C0 1+ s/ωh
D. Xue and Y. Chen

• An incommensurate order transfer function.
• For fractional order linear time-invariant systems.
• Fractional order controllers.
• Fractional order systems with delay.
• Distributed order fractional systems.
• Discrete-time fractional systems.
• Fractional nonlinear systems.
A method for stabilizing fractional PID controllers for time delay
systems was proposed by S. Hamamci [21,46] in 2007. The basics
of this proposed method include finding stability boundaries using
D-decomposition. This method was also used for obtaining the ap-
propriate gain and phase margin of the system. This method can
be used for implementing controllers and designing of fractional
order system. In this work, the formulation, numerical scheme and
numerical results for the computation of stability were discussed.
The stability of the PDμ controller was carried out for the range
of differentiation between 0 to 2 in [29] for delay systems. The sta-
bility was calculated based on poles located on quasi-polynomial
on the right hand of the s-plane and D-partition characterization
of stability boundaries. They concluded that for μ > 1, the system
would be more unstable than μ <= 1 in most of the cases.
4.6. Synthesis of fractional PID controller
The outlines of the mathematical description of fractional con-
trollers and methods of their synthesis and applications are given
in [47,48]. For the synthesis of the controller, different used meth-
ods include the method of dominant roots, the Naslin’s method,
the optimal module method, the symmetrical optimum method,
the standard form method and different empirical methods. A
modification of dominant roots method was used for fractional or-
der controllers. The calculated control signal for fractional order
controllers is given below:
Ti  Td 
k k
u(k ) = Ke(k ) + q j e ( k − j ) + d j e (k − j )
T −λ Tδ
j=v j=v
using state space representation was given by H. Raynaud and A.
Zergainoh [50].
A time domain synthesis of the fractional PID controller was
carried out by C. Hwang et al. [51]. Two different approaches were
discussed based on the B-spline’s series method and numerical in-
tegration. These methods provided reliable and accurate results as
compared to Podluby’s double infinite series and GL (Grunwald -
Letniknov) finite difference formula.
4.7. Different forms of fractional order controllers
A short paper on introduction of four representative fractional-
order controllers was presented briefly by D. Xue and Y. Chen in
2002. These representatives are the TID (Tilted Proportional and In-
tegral) controller, CRONE controller, PIλ Dμ controller and fractional
lead-lag compensator. The basic ideas as well as technical formula-
tions are presented along with the comments. The major purpose
of the paper is to draw attention towards the non-conventional
method of robust control based on fractional order calculus [38].
In a TID controller, the proportional component is replaced by a
compensator having a transfer function characterized by s1/n . It is
referred to as the tilt component of a controller. The different vari-
ations of fractional PID controllers are summarized in Table 1. The
fractional lead-lag compensator is given by:
 1 + s/ω r
Cr (s ) = C0 b
(12)
1 + s/ωh
where, 0 < ωb < ωh (transitional frequency), C0 > 0 and r ∈ (0, 1).
It was mentioned that by using fractional order calculus in con-
trol design, the performance of the system can be improved. It
was also suggested that the popular controller design techniques
can be extended to the fractional order controllers. It was men-
tioned that the success of this type of fractional order controller
depended upon the tuning method. Further studies on fractional
(11) order controllers are required for efficient digital implementation
methods and performance of the systems with nonlinearities.

where, T is the length of the time step, qj and dj are the binomial Internal Model Control (IMC) based tuning was proposed by M.
coefficients, u(k) is the control signal, e(k) is the error signal, Ti is Tavakoli-Kakhki and M. Haeri in 2010 [52]. An IMC based fractional
the integral time, Td is the derivative time and λ and δ indicate an PID controller is represented as:
 
order of integrator and differentiator in fractional PID controller. 1 Td sα
The synthesis of FO-PID controllers regarding stability using C (s ) = K 1 + + (13)
Ti sα γ sα + 1
Hermite Biehler theorem was presented by R. Caponetto et al. [49].
The results were compared with previous work related to the clas- where, Ti is the integral time and Td is the derivative time. The
sical PID controller. This method can be used for defining the pa- term γ sα + 1 is added to make proper transfer function.
rameters of FO-PID to ensure the stability of the closed-loop sys- In 2013, D. Sierociuk and M. Macias [53] presented a different
tem for time delay systems. A design of fractional order controller idea for designing a fractional order controller. By using Ziegler-
34 P. Shah, S. Agashe / Mechatronics 38 (2016) 29–41
Nichols methods, they obtained derivative and integral time pa-
rameters of the fractional PID controller. Later, the orders of inte-
gral and derivative of FPID controller were obtained based on min-
imization of different objective functions. This minimization func-
tion can be switched during process control by changing the orders
of FPID controller, which leads to the variable fractional order PID
controller.
A modified version of the fractional PID controller for design of
irrigation canal was proposed by V. Feliu-Batlle et al. in 2007 and
2009 [27,54,55]. There are only three parameters to tune similar to
the classical PID controller, whose transfer function is given by:
1 + Td s
C (s ) = KP
sα
where, Kp is the proportional gain constant, Td is the derivative
time and α is the fractional order.
For enhancing settling time performance, another modified
fractional order controller is introduced with its transfer function
as:
1 + Td s s + η
C (s ) = KP
sα s A robust fractional PI controller was designed by V. Feliu-Batlle
where, η is minuscule that improves steady-state behavior.
A fractional order [PD] controller was designed by Y. Luo and Y.
Chen in 2009 [56,57]. This controller is given by:
C (s ) = KP (1 + KD s )μ ; μ ∈ (0, 2 )
where, KP is the proportional gain constant and KD is the derivative
gain constant.
A design procedure has been developed for the proposed FO-
[PD] controller synthesis, and this modified version outperforms
the fractional PID controller. Tuning of this controller was achieved
by solving equations related to the required design specifications.
Fractional-order lead controller design using biquadratic ap-
proximation was described by R. El-Khazali in 2013. In this work,
two examples regarding designing of fractional PID controller have
been discussed, assuming λ = μ. A frequency approach for the de-
sign of fractional order control is used for this work [58]. This ap-
proximation of sλ is achieved by:
a0 s2 + a1 s + a2
sλ ≈
a2 s2 + a1 s + a0
where, a0 , a1 and a2 are real constants. Properly obtained a0 , a1
and a2 can approximate a fractional order within a band-limited
frequency spectrum. For using this approximation method, struc-
ture of fractional PID controller was modified by assuming λ = μ
and Ti = Td ,
 
1
C (s ) = KP 2 + + Ti sμ
Ti sμ
which can be written as
KP (1 + Ti sμ )2 (1 + Ti sμ )2 KP
C (s ) = μ
= KC ; KC =
Ti s sμ Ti
In this modified version of FPID, there are only three tuning
parameters, namely KC (gain constant), Ti (integral time) and μ
(fractional order). This proposed structure of FPID exhibits a flat
phase band-limited lead contribution, and improves the robustness
γ
Dλ e(t )
sign(Dλ e(t ))
of control system.
The combination of fuzzy controller and fractional PID con-
troller was also proposed by many researchers, latest used in [59].
The simulation results demonstrated that the fuzzy fractional PID
controller provides a better response than the FOPID and classical
PID controller.
4.8. Design based on optimal control
A new solution scheme for a class of fractional optimal con-
trol problems regarding fractional dynamic systems was formu-
lated by O. Agrawal in 2004. Two examples, time-invariant system,
and variant system were cited to show the application of this the-
ory. A fractional order optimal control was developed using vari-
ations, the Lagrange multiplier, and the formula for fractional in-
tegration by parts to construct the Euler-Lagrange equation [60].
This work may initiate new research in the areas of fractional vari-
ational calculus and fractional optimal control [61].
H∞ performance design of fractional-order systems with time-
(14) delay using fractional-order control systems was described by
Wang in 2012. H∞ performance is associated with robust stabil-
ity of closed loop systems. They cited two examples: one of them
is the determination of a set of stabilizing parameters of fractional-
order PDμ and the other is the computation of H∞ boundary lines
in the stabilizing region, using an algebraic approach to PDμ con-
trolled fractional-order closed-loop systems [62]. For a fractional
order time-delay system, a graphical stability criterion was applied
(15) and used for the designing of the fractional order controller.
and F. Castillo-Garcia in 2004 [63]. This work addressed the un-
certainty of plant time constant, from 0 to ∞. Simulation results
revealed that the phase margin remains the same for a large un-
certain time constant interval. Simulation examples encompasses
(16) stable and unstable plants. Results were compared with standard
PI controller and QFT designed robust controller.
4.9. Fractional PID controller for nonlinear systems
A fractional PID controller for nonlinear systems was designed
by R. Barbosa et al. [33] in 2007. Two nonlinear phenomena are
considered in this paper, namely saturation and backlash. A frac-
tional PID controller is implemented using discrete time approxi-
mation. The Al-Alaoui discretization scheme has been used, which
is a weighted interpolation of the Tustin and Euler operation. In
the simulation, a double integration transfer function is considered
for the analysis. Analysis of nonlinear systems is performed using
describing function analysis and limit cycle prediction. They com-
mented that a more systematic approach to controller design for
(17) nonlinear systems needed for further research.
A non-linear dynamics can be linearized at different operat-
ing points. Different controllers are designed for different operat-
ing conditions. However, a fractional PID controller can achieve the
property of an iso-damping easily. Hence, only one fractional PID
controller is needed at different operating points. This method was
implemented by S. Das et al. [34] for a pressurized heavy water re-
actor. A fractional PID controller was designed using the frequency
(18) domain technique, by solving non-linear simultaneous equations.
4.10. Non-linear fractional PID controller
A nonlinear version of the fractional PID controller was intro-
(19)
duced by F. Merrikh-Bayat and N. Mirebrahimi in 2011 [64]. This
type of controller can improve the tracking properties of the given
feedback system with a smaller design effort. The structure of this
non-linear FPID is given by
α β
u(t ) = KP |e(t )| sign(e(t )) + KD |Dμ e(t )| sign(Dμ e(t ))
+ KI
(20)
In the above equation, KP , KD , KI ∈ R, α , β , γ , μ ∈ and λ ∈
R+ ,
R− are the tuning parameters, e(t) is the error signal and u(t) is
the control signal. So, this controller has eight parameters to be
tuned. It is a combination of a nonlinear PID and a fractional order
 P. Shah, S. Agashe / Mechatronics 38 (2016) 29–41
PID. However, it may be difficult to tune this type of controllers
because of the presence of eight parameters.
4.11. Sliding mode control using fractional PID controller
A sliding mode controller (SMC) possesses a robustness charac-
teristic under plant uncertainties. In [65,66], an SMC controller was
designed using fractional PID controller and the results are com-
pared with other controllers. It was presented that SMC using frac-
tional PID controllers were less sensitive to step disturbance. The
performance of the coupled tank system improved with regards to
stability, robustness and lesser sensitivity to disturbances. Simula-
tion of coupled tank system having a nonlinear characteristic fol-
lowing the method proposed herein was used for the verification
of the results.
An adaptive sliding mode (ASMC) was proposed for the
fractional-order chaotic system by C. Yin et al. [67] in 2013. The
proposed algorithm was tested with an unknown bound of uncer-
tainty and external disturbance. This approach needs two steps:
design of a sliding surface and developing a switching control law.
The extremum seeking control based sliding mode controller
was designed by [68] Li Z. The extremum seeking control (ESC)
is a model-free online optimization control scheme that addresses
unknown performance functions with measurable input and out-
put. The SM-ESC (sliding mode controller with extremum seeking
control) based controller was proposed in this work.
4.12. Other works on fractional PID controller
A fractional order controller was designed using PSO (Particle
Swarm Optimization) method by J. Cao and B. Cao in 2006. They
compared results of PSO with a genetic algorithm method of op-
timization. It was claimed that PSO optimization method would
provide faster search speed and better solution. Six different plant
model containing second order and higher order with continuous
and discrete plant system were also demonstrated [69]. The fol-
lowing performance fitness function was used for optimization of
this work,
 ∞ 
J= w1 |e(t )| + w2 u (t ) dt
2
(21)
0
where, w1 and w2 are the weightage parameters, e(t) is the error
signal, and u(t) is the control signal.
A fractional order control for power electronics bulk converters
using linear fractional PID controller and fractional order sliding
mode controller was developed by A.J.Calderon et al. in 2006 [70].
They stated that a fractional order controller can be applied to the
nonlinear as well as non-minimum phase systems. This work was
an experimentally validated presentation.
There is a method to construct the root locus of a fractional
order control system [71,72]. Based on the root locus, one can per-
form an analysis of the system.
In their paper, in 2010, D Valerio and J. Costa have given insight
into various topics such as
• Fractional calculus.
• Fractional transfer functions.
• Methods of approximations of fractional order.
• Fractional identification.
• First and second-generation CRONE control.
• Fractional PID controller.
• Complex orders and third-generation of CRONE.
Regarding stability, they mentioned that for order α > 2, sys-
tems become necessarily unstable - a fact that is critical for the
designing of fractional order controllers. For orders between 0 and
1, there is no resonance peak in frequency behavior. The system
35
identification method for a fractional order system was demon-
strated using time and frequency domain data. This is a kind of
tutorial paper for fractional calculus [73].
A neural network based design for fractional PID controller was
presented in [74]. In this work, a fractional order was approxi-
mated by a neural network based on observing some history of
the input and the output. The developed model allowed changing
of the controller parameters online.
A phase shaper was designed for pressurized heavy water reac-
tor using fractional order by S. Saha et al. [75]. This methodology
provided better response as compared to the reactor regulating the
system. This method has considered the iso-damping property for
the above system. The model structure used for the phase shaper
is similar to that of a fractional PI controller. It is given by:
1 + ksλ
G ph = (22)
sλ
where, k is the gain and λ is the fractional order between 0 to 1.
In 2013, the design of a fractional PID controller for an un-
damped system was discussed by P. Shah et al. One example of the
undamped system (damping ratio is zero) was cited [76]. Tuning of
this system is carried out by minimizing the objective function ISE.
Owing to the five parameters of the fractional PID, this controller
has satisfied five specifications as described in this work.
For the linear unstable system, K. Bhisikar et al. [77] has de-
signed a fractional order PI controller. They have considered six
different unstable open systems for simulation, and the tuning of
FOPID is done by using equations in MATLAB. The results were
compared with various performance parameters, namely rise time,
settling time, peak overshoot, and second norm.
In case of a second order unstable system, the fractional PID
controller designed for the magnetic levitation study [78] had been
considered. The design method used the stability analysis of frac-
tional order systems, using the Riemann surfaces and a proper
mapping in the w-plane. The designed controller was implemented
in LabVIEW module.
4.13. Books related to fractional order controller
A primary objective of the book by C. Monje et al. in 2010
was to present a concise and insightful view of the current knowl-
edge regarding fractional-order control by emphasizing fundamen-
tal concepts. It also provided the necessary tools to understand
why fractional calculus is beneficial in control, to understand its
terminology, and to highlight the key points of its applicability in
control systems. Following points were discussed, related to frac-
tional order controllers [8]
• An introduction to the basic definitions and tools for the appli-
cation of fractional calculus in the industrial automatic control
systems.
• History of fractional order control (Bode’s ideal loop transfer
function).
• Effect of different actions of the fractional PID controller.
• Fundamentals of fractional order controller.
• The design of PIλ for FOPDT Plants using MIGO algorithm (Ms
constrained integral gain optimization) (Based on ISE criteria).
λ was constrained to be in the range of 0.1 to 1.9 in steps of
0.1 for optimization. The primary motivation of this work was
to come up with simple rules that provide robustness to load
disturbance, and satisfy a vital industry design requirement.
• The design of the fractional-order PDμ controller tuning for
motion systems has been discussed with the help of a real-
time example of a dynamometer setup. Tuning of the system
has been done by solving the equation based on gain crossover
frequency and the desired phase margin.
36 P. Shah, S. Agashe / Mechatronics 38 (2016) 29–41

Table 2
Books related to fractional order control.

Sr. No Title Author(s) Publisher Edition

1 Fractional Order Differentiation and Jocelyn Sabatier, Patrick Lanusse, Pierre Springer 2015 Edition
Robust Control Design: CRONE, Melchior, Alain Oustaloup
H-infinity and Motion Control
(Intelligent Systems, Control and
Automation: Science and Engineering)
2 Stabilization and Control of Fractional Bijnan Bandyopadhyay, Shyam Kamal Springer 2015 Edition
Order Systems: A Sliding Mode
Approach (Lecture Notes in Electrical
Engineering)
3 Fractional Order Motion Controls Ying Luo and Yang Quan Chen Wiley 2012 Edition
4 Fractional-order Systems and Controls: Concepción A. Monje , YangQuan Chen, Springer 2010 Edition
Fundamentals and Applications Blas M. Vinagre, Dingyu Xue, Vicente
(Advances in Industrial Control) Feliu-Batlle
5 Fractional Order Systems: Modeling R. Caponetto, Giovanni Dongola, L. World Scientific Publishing Co 2010 Edition
and Control Applications (World Fortuna Pte Ltd
Scientific Series on Nonlinear Science:
Series A)
6 Intelligent Fractional Order Systems Indranil Pan, Saptarshi Das Springer 2013 Edition
and Control: An Introduction (Studies
in Computational Intelligence)
7 Discrete Fractional Piotr Ostalczyk WSPC 2015 Edition
Calculus:Applications in Control and
Image Processing (Series in Computer
Vision)
8 Fractional Dynamics and Control Dumitru Baleanu, José António Tenreiro Springer 2012 Edition
Machado, Albert C. J. Luo
9 Functional Fractional Calculus for Shantanu Das Springer 2008 Edition
System Identification and Controls
10 An Introduction to Fractional Control Duarte Valerio, Jose Sa da Costa IET (Institution of Engineering 2012 Edition
(Control, Robotics and Sensors) and Technology)
11 Advances in Robust Fractional Control Fabrizio Padula, Antonio Visioli Springer 2015 Edition

• A fractional order controller was designed through optimization
for Basic Process Rig 38-100 Feedback Unit for given specifica-
tions (regarding phase margin, gain crossover frequency, sensi-
tivity function, etc.). As there are five parameters to tune, five
different specifications regarding the design of fractional PID
controller were considered.
• Various approaches for implementation of fractional order con-
trollers have been discussed.
• MATLAB implementations of various functions related to the
fractional order controller have been illustrated with examples.
Moreover, different fractional order differential equations have
been solved.
• The beauty of the fractional order controller is to allows us, to
select the slope of the amplitude and the phase contribution at
high as well as low frequencies [8].
• System identification has been introduced with the example of
the electrochemical process and flexible structure, which is also
one of the applications of fractional calculus in the area of the
control system.
• Likewise, the use of fractional calculus has been demonstrated
in different areas like power electronics, canals, etc.
In 2010, in a Book titled ” Fractional Order Systems Modeling
and Control Applications” by R. Caponetto et al. [79], following
points are emphasized in fractional order control,
• Fractional calculus history, basic definitions, Laplace transform,
properties of fractional calculus, numerical methods for calcula-
tions of fractional derivations and integrals, the stability of the
fractional system and fractional LTI system have been discussed
briefly.
• The design of fractional PID controller for first order delay sys-
tems was proposed. The Hermite-Biehler theorem applicable to
quasi-polynomials has been used for stability study.
• Brief introduction of fractional order chaotic systems has been
provided.
• The fractional order has been implemented by different meth-
ods, like FPGA(Field Programmable Gate Array), Switched Ca-
pacitor Integrated Circuit, using PIC micro-controller and Field
Programmable Analog Array.
Other related books on the fractional order controller are sum-
marized in Table 2.
5. Tuning methods for fractional order controller
Tuning of most of the controllers is always challenging task. In
case of fractional PID controller, there are five parameters to tune
for designing of the controller. Because of a larger number of pa-
rameters, it is challenging to tune this controller [18].
According to D. Valerio and J. Costa [80], tuning methods can
be divided into three different categories:
• Rule-based methods.
• Analytical methods.
• Numerical methods.
Apart from the above methods, self-tuning and auto-tuning
methods are also used for tuning of fractional order controllers [1].
5.1. Rule-based methods
The Ziegler-Nichols method is one of the pioneering tuning
methods for PID controllers. In most cases, It improves the perfor-
mance of the control system, but it can, always be used to choose
the initial tuning point. This process requires step response in the
S-shaped curve. In 2006, D. Valerio and J. Costa [81] proposed tun-
ing of the FPID controller based on Ziegler Nichols-type rules. In
the proposed method, it was assumed that the plant has an S-
shaped behavior for a unit step input. The plant model was as-
sumed to be of first order with a delay system, else as an approx-
imation in first order with a delay system. In this response, L is
 P. Shah, S. Agashe / Mechatronics 38 (2016) 29–41
an apparent delay, and T may be interpreted as a time constant,
such as the one resulting from a pole. The rule can be used for
fine tuning of the controller or choosing initial points for further
tuning of the fractional order controller. Rules for fractional PID, in
this proposed method, are in the quadratic form [40].
A fractional PID controller for velocity control of a servo sys-
tem using Ziegler-Nichols method was designed by R. Barbosa et al.
[82]. Ziegler-Nichols method was used for tuning the gain param-
eters of the fractional PID controller. Extra (exponents) parameters
provided enhancement of system performance in terms of time
domain specifications. These parameters were tuned manually by
varying parameters and observing the effect on the required spec-
ifications.
A tuning method using Ziegler-Nichols was developed by C.
Yeroglu and N. Tan [83]. In this method, the value of KP and KI was
obtained from the Ziegler-Nichols approach. The value of λ and μ
was obtained from non-linear equations, calculated from specifica-
tions of phase margin and gain margin. The initial value of KD was
calculated using Astrom-Hagglund method for the specified phase
margins. Later on, the value of KD was obtained using the fine tun-
ing method.
5.2. Analytical methods
An analytical tuning method for the fractional order system was
proposed by [6] C. Zhao et al. in 2005. The performance of this
method was compared with the classical PID controller using two
examples. Parameters of this controller were obtained by solving
equations that were obtained for the desired specifications. A com-
parison of the unit step responses of integer and fractional-order
models of the heating furnace was also performed.
The tuning method based on the specifications as well as the
proposed auto-tuning method for fractional PID controller based
on the relay test was described in 2007 by B. Vinagre et al.
[84] and 2008 C. Monje et al.[1]. It allows the requirements of
robustness constraints for the FPID system using simple relations
among its parameters. In this method, variation of the standard re-
lay test is used. A delay θ a is introduced after the delay function,
resulting into the relationships as below:
arg(G( jωc ) ) = −π + ωc θa , (23)
πa 1
|G( jωc )| = = (24)
4d N (a )
where, G(jωc ) is the transfer function of the plant at the frequency
ωc ; which is the frequency of the output signal y corresponding to
the delay θ a . The relay output is d, a is the amplitude of the out-
put signal, and N(a) is the equivalent relay gain, which is describ-
ing function for the ideal relay. For each value of θ a , the Nyquist
curve can be obtained for different points. A particular desired fre-
quency ωc can be identified using above curve. The auto-tuning
method has also been implemented in a Programmable Logic Con-
troller (PLC) [85].
The tuning of fractional PI controller based on ’symmetrical op-
timum’ (SOM) was presented in [86]. In this method, the tuning
formulas have been based on specifications requirements. The pa-
rameter α encodes influence overshoot as well as rise time.
The tuning method of the fractional proportional integral for
the fractional order system has been developed by Y. Luo et al.
[23] in 2010. Two different classes of fractional order PI controllers
were proposed and designed for a plant of fractional order. The
structure of above controller is given by:
 KI
 proposed using time as well as frequency domain specifications.
C1 (s ) = KP 1 + λ (25)
s
37
and
 
KI λ
C2 (s ) = KP 1 + (26)
s
where, λ ∈ (0, 2) is considered here, KP is the proportional gain
constant and KI is the integration gain constant.
Tuning of above class of controller is performed by solving
equations for the various specifications. Also, simulation results of
the proposed method are verified using hardware in the loop (HIL)
experimental test bench. Robustness of this controller has been
confirmed in this paper. It has been mentioned that the FO[PI]
controller performs better than the FOPI controller. The FO[PI] con-
troller has also been used in unmanned aerial vehicles [87]. In this
case, the FO[PI] controller has provided better results than the FOPI
and classical PID controllers.
A fractional PID controller for integer and fractional plants us-
ing piecewise orthogonal functions such as Block pulse, Walsh and
Haar wavelets has been designed in [88]. Two approaches were
considered in this work- in one case, where the gain parameters
of the controller were derived from a least square method, and in
other case using the analytical method. The different examples, in-
cluding integer and fractional systems, have been covered to show
the validity of the technique.
The tuning for a higher order system using frequency domain
method was proposed by S. Das et al. [25] in 2011. The frequency
domain method has been shown to provide better results regard-
ing robustness, the better capability of high-frequency noise rejec-
tion, and lower value of the control signal.
A tuning of the fractional PID controller was designed using
rule extraction with genetic programming by S. Das et al. [89].
The proposed method was validated using test bench problems of
higher order control systems with variations of different parame-
ters. In this method, tuning rules were based on controller effect
as well as error index. Robustness of the proposed method was
validated against system gain, a time constant and delay variation.
The tuning based on IMC method was demonstrated in
[30,90,91]. The tuning algorithm was based on computing the
equivalent controller of the IMC structure and imposing frequency
domain specifications for the resulting open loop system. The IMC
based tuning is beneficial when model is inaccurate or incomplete.
5.3. Numerical methods
The tuning of fractional order controllers based on different op-
timization methods has been proposed by various authors. Based
on a genetic algorithm [92], J. Cao et al. proposed tuning of FPID
using ITAE and control input as a performance index. L. Chang
and H. Chen [93] also suggested tuning of FPID using an adap-
tive genetic algorithm for the active magnetic bearing system. For
this tuning method, different performance indexes have been con-
sidered, like overshoot, rise time, settling time and control input.
Based on the genetic algorithm [4], tuning rules have been devel-
oped using time domain performance index. Four different types
of model structures have been covered in this work.
The enhanced particle swarm optimization (PSO) method has
also been used for designing of fractional order controllers by J.
Cao and B. Cao [69] in 2006. The same performance index as above
(ITAE and control input) has been used. M. Karimi-Ghartemani
et al. [94] have also used the PSO algorithm for tuning of the FPID
of an AVR system. M. Zamani et al. designed a fractional PID con-
troller using the PSO approach [5]. A novel cost function has been
The performance index has been defined by:
38 P. Shah, S. Agashe / Mechatronics 38 (2016) 29–41
Table 3
Summary of software for designing fractional PID controller.
Sr. No Software
1 Ninteger
2 FOPID
3 FOMCON
4 Sysquake Interactive Software Tool
5 CRONE
6 FOTF
 T
J (k ) = w1 MP + w2 tr + w3 tss + w4 Ess + (w5 |e(t )|
0
w7 w8
+ w6 u2 (t )dt + + (27)
PM GM
where, w1 to w8 represent the weightage of different parameters.
As per design specifications of the system, the appropriate value
can be assigned in the range of 0 to 1.
This cost function includes maximum overshoot (MP ), rise time
(tr ), settling time (tss ), the integral of absolute error (IAE), steady
state error (Ess ), energy signal of the controller, gain margin (GM)
and phase margin (PM). If the closed loop system becomes un-
stable, then the cost function is penalized by a significant value.
The fractional PID controller was also tested for robustness against
uncertainties of the model parameters and the same method was
used for designing the fractional controller for a five bar linkage
robot [95].
The tuning method for fractional order systems based on an it-
erative optimization method has been proposed by C. Monje et al.
in 2004 [96]. A set of five specifications, namely phase margin,
gain margin, robustness to variations in the gain of the plant, dis-
turbance rejection and robustness to high-frequency noise, can be
met to ensure good output from a closed loop system. Since this
fractional PID controller has five parameters to tune, the complex-
ity of nonlinear equations, which are derived from above specifica-
tions is very significant, especially when it uses a PIλ Dμ controller
and fractional orders of the Laplace variable are introduced. Thus,
the optimization toolbox of MATLAB has been used to get a bet-
ter solution with performance measurement parameters like ISE,
MSE, etc. The FMINCON function, which finds the constrained min-
imum of a function of several variables, has been used to resolve
our problem of optimization.
The tuning method for first order plus delay systems by MIGO
(Ms constrained integral gain optimization) method was proposed
by Y. chen et al. [2] in 2008. The same method was also used by H.
Ahn et al. [97,98] for temperature profile tracking on heat flow ex-
periments (Quanser Product). The enhanced version of MIGO (Frac-
tional MIGO) method was used in [99,100].
The use of fractional calculus in the area of engineering and
science was demonstrated by J. Machado et al. [101] in 2009. They
used optimization based tuning for heat diffusion systems. In this
approach, ISE and an energy signal were used as a cost function
for minimization. The fractional integral and derivatives were im-
plemented using the 4th order Pade discrete rational transfer func-
tion.
The fractional PID controller was designed using an improved
differential evolution optimization approach by A. Biswas et al.
[102] in 2009. Simulation results were compared with other op-
timization algorithms such as PSO and binary GA. The design of
the cost function depends on the location of the closed loop domi-
nant pole, which is calculated based on user specifications of max-
imum overshoot (MP ) and rise time (tr ). This method of optimiza-
tion demonstrated superior performance compared to other meth-
ods.
Author Remark
D. Valerio and J. Costa GUI For Controller Design
N. Lachhab et al. Not Available for download
A. Tepljakov et al. Useful for modeling and control
E. Pisoni et al. Analysis and design of fractional PID Controller
A. Oustaloup et al. Toolbox for non integer control and identification
Xue et al. Overload many functions
A fractional PID controller was designed using improved
electromagnetism-like algorithm [103] by C. Lee and F. Chang. This
theory is based on population meta-heuristics that originated from
the electromagnetism theory. The ISE has been considered as a
performance index for designed fractional PID controllers. Simula-
tion results have been compared with other optimization methods.
The genetic algorithm and different varieties of differential evo-
lution have been applied to achieve an unstable delayed process
[28]. These delayed processes were tested for load disturbance af-
ter tuning. The results indicate that the fractional PID controllers
are more appropriate for delayed systems as compared to classical
PID controllers in terms of providing better time domain perfor-
mance, and they produce a significantly smaller control signal that
would save energy for the actuator.
A multi-objective optimization based fractional PID controller
was designed by I. Pan and S. Das [104] for Automatic Voltage Reg-
ulator (AVR) systems. Results of the proposed method were com-
pared with those of the with classical PID controller. It showed
that a fractional PID controller provides fairly good results. A sim-
ilar approach also used in the Non-dominated Sorting Genetic Al-
gorithm (NSGA-II)in [105,106].
The bode and bode envelope are shaping tuning methods pre-
sented in [107]. These methods, which are an extension of the
Monje-Vinagre et al. method, are based on numerical optimization
and robustness. In this approach, a constant phase is ensured in a
specified frequency band. The proposed methods have been vali-
dated using benchmark test problems of higher order systems and
by using level control.
6. Software for fractional PID controller
For analysis, simulations and implementation of fractional or-
der systems, there are various tools available, which are described
below. Summary of software tools is presented in Table 3. The de-
tail survey paper of tool related to fractional calculus and control
is available in a review paper by Li Z et al. [108].
6.1. Ninteger
The code for Ninteger was developed by D. Valerio and J. Costa
[109] in 2005, and was made available online for the user. This
code may be freely distributed and can be changed, provided that
the source of the code is acknowledged. This toolbox requires a
control system and an optimization toolbox. Main features of this
toolbox include:
• Almost thirty methods for approximations of fractional order
derivatives and integrals.
• Three identification methods of fractional models.
• Graphical user interfaces for controller design.
• Functions for analysis of fractional order systems [110].
This software can be download from the following link from
MATLAB Central.
http://in.mathworks.com/matlabcentral/fileexchange/
8312-ninteger
 P. Shah, S. Agashe / Mechatronics 38 (2016) 29–41
6.2. FOPID toolbox
In 2013, N. Lachhab et al. published a paper on “Fractional
Order PID Controller (FOPID)-Toolbox”. This paper discusses the
FOPID toolbox for the design of robust fractional PID controllers.
A novel approach based on non-smooth optimization techniques
(loop shaping configuration) has been used. This toolbox has the
following functions:
• Compute a fractional PID controller.
• Analyse the following plots
• Open and closed loop Bode Plot.
• Nyquist and Nichols plots.
• Step response.
• Tuning of the computed parameters.
• Analyses and compares several approximation methods for the
fractional orders [111].
Currently, this toolbox is not available for download.
6.3. FOMCON toolbox
In 2013, A. Tepljakov et al. [112], [113] reported their work on
“Fractional-order Controller Design and Digital Implementation
using FOMCON Toolbox for MATLAB”. They presented the suite
of tools of the FOMCON (”Fractional-order Modeling and Control”)
toolbox for MATLAB, which is used for fractional-order PID con-
troller design and hardware realization. Nowadays, use of this tool-
box is growing amongst researchers of fractional order controllers.
Main features of this toolbox are
• Identification module (system identification in both time and
frequency domains).
• Control module (fractional PID design, tuning and optimization
tools, as well as some additional features).
• Fractional system analysis like
• Open and closed loop Bode plot.
• Nyquist and Nichols plots.
• Step response.
• Fractional-order system implementation module (Digital and
analog ).
Examples for the heating system have been cited, where mod-
eling and controls of the plant have been done. Also, most of the
module of this toolbox have a graphical user interface (GUI). Re-
garding fractional order controllers, the user can identify the plant,
design the fractional order controller using different methods, and
can also implement it in real time. Different performance indices
are also given as options. Further, this toolbox provides blocks in
Simulink like fractional PID controller, fractional transfer function,
fractional operator, etc. These blocks facilitate in overcoming some
of the constraints dictated by particular implementations of frac-
tional order controllers.
In digital controller implementation, a discrete approximation
of a fractional-order PID controller is made in zero-pole-gain with
suitable parameters and sampling time. After a discrete approxi-
mation of the controller, the next step is to select an appropriate
filter structure for implementation.
This software can be download from the following the link and
there is also a forum to discuss issues with this toolbox regard-
ing fractional PID controllers. http://fomcon.net/fomcon-toolbox/
download/
6.4. Sysquake interactive software tool
An interactive software tool for fractional PID controller was de-
signed by E. Pisoni et al. [114–116]. The purpose of designing this
39
tool was spreading the use of fractional PID controller in the in-
dustry. This tool analyses the effect of various parameters related
to the design of fractional PID controller in the time and frequency
domain. So, this tool can be used for training operators, perfor-
mance assessment of new design method, etc. The features of this
tool are as follows:
• Analyses effect of approximation method parameters (Order of
poles and range of frequency) and controller parameters.
• Calculates different performance and robustness parameters
(IAE, gain margin, phase margin, maximum sensitivity, etc.).
• Set point response.
• Load step disturbance response.
• Measurement noise response.
• Open loop response.
• Bode plot.
This tool is freely available by emailing to one of the author.
6.5. CRONE
The CRONE toolbox was developed by A. Oustaloup et al.
[117] for engineers and researchers. There are two versions of this
toolbox, namely classical and object orientated. It can be used for
control and identification of non-integer order. The CRONE toolbox
has been used by industrial and academic partners in several ap-
plications. There are three modules of this toolbox:
• Mathematical tools
• Non integer differentiation.
• Non integer differential equation.
• Non integer characteristic equation.
• Non integer complex differential operator.
• Inverse Laplace transform of non integer transfer function.
• Non integer differential system.
• Non-integer system identification.
• CRONE control (cover all three generations).
This software can be download from the following link,
and there is also a forum to discuss issues with this toolbox.
http://archive.ims-bordeaux.fr/CRONE/toolbox/pages/accueilSITE.
php?guidPage=home_page
6.6. FOTF
Fractional order transfer function (fotf) is a toolbox developed
for fractional order systems by Xue et al [118]. An FOTF object was
designed, and the overload functions were developed for time and
frequency domain analysis, as well as stability measurements. This
toolbox also supports delay in the fractional transfer function. The
Fractional-order operator block was designed in Simulink. Also, an
example of tuning of FPID using optimization methods has been
provided. The code for ’fotf’ can be obtained from [118].
7. Conclusions
In this paper, the introduction of fractional calculus with ba-
sic definitions and fractional PID controllers have been briefly dis-
cussed. The Caputo definition is more relevant in the case of engi-
neering applications as compared to other definitions.
Pioneering work in fractional order controllers is presented, and
different fractional order controllers of various fractional orders
have been described. There is a need to explore different variations
of the fractional PID controllers stated in this paper. The fractional
order controller provides better robust performance in most appli-
cations. Regarding the order of the fractional controller, order of
integration differentiation is in the range of 0 to 2. Initially, most
papers cited this range to be 0 to 1. Nowadays, we can see many
40 P. Shah, S. Agashe / Mechatronics 38 (2016) 29–41
researchers using a range of 0 to 2 as an order of the controller. As
per D. Valerio, the system may become unstable on increasing this
order to more than two.
Different tuning methods for fractional order controllers have
also been discussed. These methods have been classified into three
categories, namely numerical, analytical and rule-based methods.
There is a need for some simple methods for tuning of fractional
order controller that would satisfy most of the systems. Industrial
use of fractional order controllers can be enhanced with the help
of auto-tuning methods and plug and play type controllers.
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