Geometrical design of fractional PD μ controllers for linear time-invariant fractional-order systems with time delay

Adrian Josue Guel Cortez, Cesar-Fernando Mendez-Barrios, Emilio Jorge González-Galván, Gilberto Mejía-Rodríguez, Liliana Félix

Research output: Contribution to journalArticlepeer-review

6 Citations (Scopus)


This article presents a simple procedure that allows a practical design of fractional –PD μ controllers for single-input single-output linear time-invariant fractional-order systems subject to a constant time delay. The methodology is based on a geometric approach, which provides practical guidelines to design stabilizing and non-fragile PD μ controllers. The simplicity of the proposed approach is illustrated by considering several numerical examples encountered in the control literature. Moreover, with the aim of showing the performance of the PD μ over a classical PD controller, both controllers were implemented at the end of the article in an experimental test-bench consisting a teleoperated robotic system.

Original languageEnglish
Pages (from-to)815-829
Number of pages15
JournalProceedings of the Institution of Mechanical Engineers, Part I: Journal of Systems and Control Engineering
Issue number7
Early online date22 Jan 2019
Publication statusPublished - 1 Aug 2019
Externally publishedYes


  • Fractional-order systems
  • fractional PD controllers
  • stability

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Mechanical Engineering

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