Realizations of fractional-order PID loop-shaping controller for mechatronic applications

• Published in: Integration (Amsterdam) 2021-09, Vol.80, p.5-12
• Main Authors: Kapoulea, Stavroula, Psychalinos, Costas, Elwakil, Ahmed S., HosseinNia, S. Hassan
• Format: Article
• Language: English
• Subjects: Approximation; Closed loop systems; Controllers; Curve-fitting approximation technique; Feedback control systems; Field programmable gate arrays; Field-programmable analog array; Fractional-order PID controller; Fractions; Mechatronics; Padé approximation; Proportional integral derivative; Simulation; Transfer functions
• ISSN: 0167-9260; 1872-7522
• DOI: 10.1016/j.vlsi.2021.04.009

A novel procedure for the realization of a fractional-order PID loop-shaping controller, suitable for precision control of mechatronic systems, is introduced in this work. Exploiting appropriate tools, the controller function is approximated as a whole, leading to a simple form of integer-order approximation, when compared to the case where each intermediate part of the PID transfer function is approximated. This leads to a direct implementation, composed of conventional active and passive elements. Simulation and experimental results, derived from the OrCAD PSpice simulator and a Field-Programmable Analog Array respectively, verify the efficient functionality of the proposed implementation procedure. •A curve-fitting based procedure is used for the realization of a fractional-order PID loop-shaping controller•The complete controller transfer function is approximated in one step.•The order of the approximation function is independent of the number of product terms in the fractional-order transfer function.•The complexity of the realization topology is significantly reduced compared to term-by-term implementations.•Experimental results using a Field-Programmable Analog Array (FPAA) show a very efficient design.