Tuning of robust FO[PI] plus fractional lead controller for integrating time-delay systems

A Comparison between Integer and Fractional Order PD μ Controllers for Vibration Suppression

“…For the gain crossover frequency and the phase margin certain values are imposed, while the robustness is ensured by forcing the phase of the open loop system to be a straight line near the crossover frequency [17]. This type of tuning procedure has been discussed before, with numerous applications [16,[18][19][20][21][22]. However, its application to the problem of active smart beam vibration control is an original element of this manuscript.…”