Non-Fragile Tuning of Fractional-Order PD Controllers for IPD-Modelled Processes

This paper deals with introducing non-fragile algebraic tuning rules for fractional-order PD controllers where they are used in controlling processes modeled in Integral Plus Delay (IPD) forms. These tuning rules are obtained based on a recently introduced approach, named as the centroid approach, which results in non-fragile tuning methods. Based on this approach, the centroids of two-dimensional admissible regions or the center of gravity of three-dimensional admissible regions in controller parameter space give non-fragile options for choosing controller parameters.