Analogue Implementation of a Fractional-Order PI lambda Controller for DC Motor Speed Control

Herencsar N., Kartci A., Koton J., Sotner R., Alogoz B. B. , Yeroglu C.

28th IEEE International Symposium on Industrial Electronics (IEEE-ISIE), Vancouver, Canada, 12 - 14 June 2019, pp.467-472 identifier

  • Publication Type: Conference Paper / Full Text
  • Volume:
  • City: Vancouver
  • Country: Canada
  • Page Numbers: pp.467-472


In this paper, an approach to design a fractional-order integral operator s(lambda) where -1 < lambda <0, using an analogue technique, is presented. The integrator with a constant phase angle -80.1 degree (i.e. order lambda = -0.89), bandwidth greater than 3 decades, and maximum relative phase error 1.38% is designed by cascade connection of first-order bilinear transfer segments and first-order low-pass filter. The performance of suggested realization is demonstrated in a fractional-order proportional-integral (FOPI lambda) controller described with proportional constant 1.37 and integration constant 2.28. The design specification corresponds to a speed control system of an armature controlled DC motor, which is often used in mechatronic and other fields of control theory. The behavior of both proposed analogue circuits employing two-stage Op-Amps is confirmed by SPICE simulations using TSMC 0.18 mu m level-7 LA) EN SCN018 CMOS process parameters with +/- 0.9 V supply voltages.