Fractional order model reduction approach based on retention of the dominant dynamics: Application in IMC based tuning of FOPI and FOPID controllers

Fractional order PI and PID controllers are the most common fractional order controllers used in practice. In this paper, a simple analytical method is proposed for tuning the parameters of these controllers. The proposed method is useful in designing fractional order PI and PID controllers for control of complicated fractional order systems. To achieve the goal, at first a reduction technique is presented for approximating complicated fractional order models. Then, based on the obtained reduced models some analytical rules are suggested to determine the parameters of fractional order PI and PID controllers. Finally, numerical results are given to show the efficiency of the proposed tuning algorithm.