COMPARISON OF FRACTIONAL ORDER PID AND PID CONTROLLERS: A NOVEL TUNING METHOD AND PERFORMANCE ANALYSIS
DOI:
https://doi.org/10.59277/RRST-EE.2026.2.20Keywords:
PID controller, Optimization, Control system robustness, Edge compensation, Fractional-order systemAbstract
This study presents a direct comparison between fractional-order PID (FOPID) and classical PID controllers using a novel regularization-based tuning technique originally developed for integral-order controllers and adapted for fractional-order applications. Although the optimization problem is not convex by its nature, the objective function sweep results indicate the weak convexity of the problem, which validates the proposed method. Simulation results illustrate that the integral order (λ) is typically close to 1, which suggests that there is little advantage in integrating the fractional order in the conventional case. But improvements were noted in systems with positive zeros (far from the origin), long dead times, and high order. In these cases, FOPID carriers reduced ITAE by 20–30%, reduced settling time by 10–30%, and increased phase margin by up to 30%, further demonstrating better performance and robustness. The advantages stem from the softer polynomial kernel of the fractional derivative, which provides more flexible control in systems with intricate or suspended dynamics than classical PID controllers.
References
(1) G. Murugaiyan, J. Gnanamalar, M. Narayanaperumal, V. Muthuvel, Red fox-based fractional order fuzzy PID controller for smart LED driver circuit, Rev. Roum. Sci. Techn. – Électrotechn. et Énerg., 68, 4, pp. 394–399 (2023).
(2) A. Idir, M. Nesri, K. Belhouchet, S. Guedida, L. Canale, Enhancing the transient performances and stability of three-tank liquid level using a modified PID controller, Rev. Roum. Sci. Techn. – Électrotechn. et Énerg., 70, 4, pp. 467–472 (2025).
(3) Dehiba, M. Abid, A. Aissaoui, Robust design of power system stabilizer for a single generator-infinite bus power system, Rev. Roum. Sci. Techn. – Électrotechn. et Énerg., 66, 4, pp. 249–253 (2021).
(4) A. Chakrabarti, P.K. Sadhu, P. Pal, A novel dead-time elimination strategy for voltage source inverters in induction heating systems through fractional-order controllers, Rev. Roum. Sci. Techn. – Électrotechn. et Énerg., 67, 2, pp. 181–185 (2022).
(5) S. Benaicha, Robust sensorless speed control of an induction motor drive using a synergetic approach, Rev. Roum. Sci. Techn. – Électrotechn. et Énerg., 68, 4, pp. 381–387 (2023).
(6) S. Tahraoui, H. Houari, M. Souaihia, H. Mostefaoui, R. Taleb, E. Bounadja, Y. Mouleloued, Artificial intelligence features on observations of nonlinear chemical reactor dynamical process, Rev. Roum. Sci. Techn. – Électrotechn. et Énerg., 70, 4, pp. 591–596 (2025).
(7) A. Amirullah, A. Adiananda, Dual fuzzy-Sugeno method to enhance power quality performance using a single-phase dual UPQC-dual PV without DC-link capacitor, Protection and Control of Modern Power Systems, 9, pp. 133–153 (2024).
(8) I.M.L. Pataro, J.D. Gil, J.D. Alvarez, J.L. Guzman, M. Berenguel, Robust fractional order PID controller coupled with a nonlinear filtered Smith predictor for solar collector fields, IFAC-PapersOnLine, 58, 1, pp. 234–239 (2025).
(9) B. Tomar, N. Kumar, M. Sreejeth, Robust control of rotary inverted pendulum using metaheuristic optimization techniques based PID and fractional order PIλDμ controller, Journal of Vibration Engineering & Technologies, 12, pp. 1–20 (2024).
(10) N. Basil, A.F. Mohammed, B.M. Sabbar, H.M. Marhoon, A.A. Dessalegn, M. Alsharef, E. Ali, S.S.M. Ghoneim, Performance analysis of hybrid optimization approach for UAV path planning control using FOPID-TID controller and HAOAROA algorithm, Scientific Reports, 15, pp. 1–10 (2025).
(11) B. Tian, H. Peng, T. Kang, RBF-ARX model-based predictive control approach to an inverted pendulum with self-triggered mechanism, Chaos, Solitons & Fractals, 186, pp. 1–10 (2024).
(12) S.M. Ghamari, H. Molaee, M. Ghahramani, D. Habibi, A. Aziz, Design of an improved robust fractional-order PID controller for buck–boost converter using snake optimization algorithm, IET Control Theory & Applications, 19, pp. 1–10 (2025).
(13) A.A. Awan, U.S. Khan, A.U. Awan, A. Hamza, Tracking control and backlash compensation in an inverted pendulum with switched-mode PID controllers, Applied Sciences, 14, pp. 1–10 (2024).
(14) R. Sekar, M. Arunachalam, K. Subramanian, Fuzzy-proportional integral derivative controller with interactive decision tree, Rev. Roum. Sci. Techn. – Électrotechn. et Énerg., 69, 4, pp. 395–400 (2024).
(15) A. Tahtah, Z. Zahzouh, Advanced dual-axis solar tracking using a novel artificial neural network-PID control strategy, Rev. Roum. Sci. Techn. – Électrotechn. et Énerg., 71, 1, pp. 39–44 (2026).
(16) R. Belal, M. Flitti, M.L. Zegai, Tuning of PI speed controller in direct torque control of dual star induction motor based on genetic algorithms and neuro-fuzzy schemes, Rev. Roum. Sci. Techn. – Électrotechn. et Énerg., 69, 1, pp. 9–14 (2024).
(17) B. Somasundaram, S. Arumugam, Sliding mode controlled closed loop quadratic boost converter three phase inverter system fed permanent synchronous motor drive with enhanced response, Rev. Roum. Sci. Techn. – Électrotechn. et Énerg., 70, 3, pp. 331–336 (2025).
(18) L. Devarajan, S. Chellathurai, Aquila optimized nonlinear control for DC-DC boost converter with constant power load, Rev. Roum. Sci. Techn. – Électrotechn. et Énerg., 69, 4, pp. 419–424 (2024).
(19) M.S. Koupaei Niya, The effects of hybrid sliding mode learning control and feedforward angle droop controller with high droop gain in hybrid microgrid with load uncertainty and nonlinearity, Rev. Roum. Sci. Techn. – Électrotechn. et Énerg., 69, 3, pp. 277–282 (2024).
(20) A. Herizi, R. Rouabhi, F. Ouagueni, A. Zemmit, Robust wind power control using sliding mode, backstepping, and fuzzy logic, Rev. Roum. Sci. Techn. – Électrotechn. et Énerg., 70, 3, pp. 313–318 (2025).
(21) Z. Lammouchi, C. Labiod, K. Srairi, M. Benbouzid, Enhanced model-free predictive control for voltage source inverters using an adaptive observer, Rev. Roum. Sci. Techn. – Électrotechn. et Énerg., 69, 3, pp. 317–322 (2024).
(22) S. Latreche, B. Babes, A. Bouafassa, Design and real-time implementation of a synergetic regulator for a DC-DC boost converter, Rev. Roum. Sci. Techn. – Électrotechn. et Énerg., 69, 3, pp. 305–310 (2024).
Downloads
Published
Issue
Section
License
Copyright (c) 2026 REVUE ROUMAINE DES SCIENCES TECHNIQUES — SÉRIE ÉLECTROTECHNIQUE ET ÉNERGÉTIQUE
This work is licensed under a Creative Commons Attribution-NonCommercial-NoDerivatives 4.0 International License.
