Design of an integer order PID controller for single fractional order pole model

Fractional order models are useful for the representation of nonlinear and complex systems in a compact form. These compact models give us a clue for the design of accurate and simple fractional order or integer order controllers. In this study, we consider single fractional order pole model representations and propose an integer order PID controller design methodology. In this methodology, the inverse of the integer low order approximation of the fractional order model is taken into consideration by giving emphasis on dominant poles and zeros. PID parameters are directly obtained from fractional order system model parameters. In addition, it possesses only a single design parameter which is the controller gain. The results of simulation examples show that the proposed integer order PID controller exhibits a comparable and satisfactory performance with respect to overshoot, settling time and total variation of the controller when it is compared with classical integer order PID and fractional order PID controllers.