Two digital realizations of fractional controllers: Application to temperature control of a solid

The purpose of this paper is to make a contribution for solving one of the major drawbacks for using fractional controllers: the controller implementation. This is done, in digital form, by applying a two step method: the use of trapezoidal rule for discretizing the fractional order integro-differential operators, and the use of the continued fraction expansion technique for approximating the discretized fractional operators. Simulation results are presented by the application of a PD fractional controller to temperature control of a solid.