“…The concept of fractional-order processes or controllers has been studied considerably (ACPA, 2002;Birbil & Fang, 2003;Birbil, Fang, & Sheu, 2004;Chang, Chen, & Fan, 2009;Tsou & Kao, 2007;Wu, Yang, & Wei, 2004). This is due to the fact that many real-world systems are characterized by fractional-order differential equations (ACPA, 2002;Birbil & Fang, 2003;Birbil et al, 2004;Chang et al, 2009;Tsou & Kao, 2007;Wu et al, 2004). Hence, Podlubny proposed a generalization of the PID controller, namely the fractional-order PID controller (FOPID or PI k D d ), where k and d are integers (Tsou & Kao, 2007;Wu et al, 2004).…”