These fractional-order control laws may allow fulfilling intricate control performance requirements that are otherwise not in the span of conventional integer-order control systems. For instance, in certain cases, the capacity for additional frequency response shaping gives rise to the generation of control laws that lead to superior performance of control loops. The growing tendency towards using fractional-order proportional-integral-derivative (FOPID) control has been fueled mainly by the fact that these controllers have additional “tuning knobs” that allow coherent adjustment of the dynamics of control systems. The interest in fractional-order (FO) control can be traced back to the late nineteenth century. The study aims at providing a solid foundation for practitioners that desire to explore auto-tuning possibilities, presenting tuning workflows and implementation guidelines, while also considering the challenges associated with real-life process.

An in depth comparison is performed based on experimental closed loop system performance for wide operating areas, tuning effort and complexity, with a focus on the suitability for industrial applications. The approaches are exemplified on a highly nonlinear experimental platform.

In this paper, three sine-test based methodologies are presented from a control engineer’s perspective consisting of novel Sine-Test, FO-KC and FO-ZN methods, with clear design and implementation guidelines. Fractional order PIDs have recently emerged as a generalization of the standard PID controller, but auto-tuning methods for these controllers are scarce. In such situations, auto-tuning methods enable the design of suitable controllers based on experimental data and predefined mathematical approaches. Accurate process modeling is occasionally difficult.

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