Fractional PID Controller with LQR Proportional Action Applied to Fractional Model of Cement Rotary Kiln

This paper presents the design of a fractional controller, which is applied to a fractional MISO model for cement rotary kiln. The designed controller is a combination of a fractional PID and a Linear Quadratic Regulator (LQR), where the proportional action of fractional PID is replaced by the LQR gain matrix. In addition, we evaluated the criteria of robustness of the controller, such as gain margin; phase margin; robustness to disturbances; sensitivity and rejection of high frequency noise, applied to the entire model (plant-controller).