PI/PID control design based on a fractional-order model for the process

In this paper we propose a new tuning rule called FOMRoT for integer PID and PI controllers. Based on a fractional order model, the devised tuning rule aims at providing a good performance in both set-point tracking and load disturbance rejection tasks, with a constraint on the maximum sensitivity. The comparison with other tuning rules which also deal with these trade-offs shows the effectiveness of the tuning rule, which can be applied with processes with different self-regulated dynamics without the need to change the structure of the considered model.