Practical Tuning of Fractional Order Proportional and Integral Controller (II): Experiments

Abstract

This paper aims to apply the practical tuning procedure for fractional order proportional and integral controller (FO-PI) to two experimental platforms. The first platform is Quanser’s Heat Flow Experiment (HFE) and the second platform is the Quanser’s Rotary Flexible Joint (RFJ) Module. The fractional controllers in both cases have been digitally implemented using Oustaloup’s recursive approximation. The second system however can also be controlled with the Fractroller which uses the novel element Fractor. Practical issues are introduced and discussed and interesting experimental results are reported that could serve as sample applications of the proposed FO-PI tuning rules.