The Quickly Adjustable Digital FOPID Controller

Conference paper
Part of the Advances in Intelligent Systems and Computing book series (AISC, volume 1196)


This study investigates an accuracy estimation of CFE approximation describing the switchable Fractional Order PID controller (FOPID). Its idea consists of the use of predefined fractional CFE models stored in an array. The set of models describes the range of fractional orders between 0 and 1 with predefined quantization step. In the paper, the accuracy analysis of the proposed approach is presented. The influence of various factors is examined during the operation of the switching mechanism between fractional orders. Results are verified by simulations and tests on PLC.


Digital fractional order PID controller CFE approximation Accuracy analysis 


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© Springer Nature Switzerland AG 2020

Authors and Affiliations

  1. 1.Department of Automatic Control and RoboticsAGH UniversityKrakowPoland

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