On the effects of the frequency frame on DC motor example: Fractional order PI-PD case

Abstract

This is a comparative study investigating the effects of the controller design method, 'frequency frame' on a DC motor example. Both fractional order proportional integral and proportional derivative controllers are designed for mentioned example which is a first order plus time delay model. The two controllers are in different structures in that they can show different behaviors. The 'frequency frame' approach is a frequency domain method which intends to provide the objective system improved stability and robustness by shaping the Bode curves. In contrary to existing similar methods, shaping is done by a graphical point of view, not by complicated mathematical operations. The reason why a fractional order controller is selected comes from the necessity of a common constant. The study in the paper aims to show the effectiveness of the frequency frame by providing desired frequency specifications with different controllers. Both controllers are calculated for a DC motor transfer function and the comparative results are given. © 2019 IEEE.