CONTROL OF ELECTRIC MACHINE USING FRACTIONAL

ORDER PID CONTROLLER AND PID CONTROLLER BY

CONSIDERING ISE
A
Thesis Submitted to
Veer Surendra Sai University of Technology, Burla
in partial fulfilment of the requirements for the award of the degree of

BACHELOR OF TECHNOLOGY
in

ELECTRICAL ENGINEERING
(Specialization in CONTROL SYSTEM)

By

Abhisek Sarangi (Regd. No.: 1802050004)

Deepika Das (Regd. No.: 1802050021)
Suswapna Panda (Regd. No.: 1802050036)

Under the guidance of

Dr. Banaja Mohanty
Associate Professor
Department of Electrical Engineering

DEPARTMENT OF ELECTRICAL ENGINEERING

VEER SURENDRA SAI UNIVERSITY OF TECHNOLOGY, BURLA-768018,
ODISHA
 Dept. of Electrical Engineering
VEER SURENDRA SAI UNIVERSITY OF TECHNOLOGY

CERTIFICATE

This is to certify that the thesis entitled “CONTROL OF ELECTRIC MACHINE USING
FRACTIONAL ORDER PID CONTROLLER AND PID CONTROLLER BY
CONSIDERING ISE ” submitted by Abhisek Sarangi (Regd. Number 1802050004),
Deepika Das (Regd. Number 1802050021), Suswapna Panda (Regd. Number 1802050036) in
partial fulfilment of the requirements for the degree of Bachelor of Technology during session
2021-22 in the department of Electrical Engineering of Veer Surendra Sai University of
Technology, Burla, is a bonafide work carried out by them under my supervision and
guidance.

I believe that the thesis fulfils part of the requirements for the award of degree of
Bachelor of Technology. Neither this dissertation nor any part of it has been submitted for any
degree or academic award elsewhere.

Dr. Papia Ray Dr. Banaja Mohanty

Head of Department Supervisor
Department of Electrical Engg. Department of Electrical Engg.
VSSUT, Burla, Odisha. VSSUT, Burla, Odisha.
 ACKNOWLEDGEMENT
We express our deepest gratitude to our project guide Dr. Banaja Mohanty whose
encouragement, guidance and support from the initial to the final level enabled us to develop
an understanding of the subject.
Besides, we would like to thank to Dr. Papia Ray, Head of the Electrical Engineering
Department, Veer Surendra Sai University of Technology, Burla, for providing her invaluable
advice and for providing us with an environment to complete our project successfully.
We are deeply indebted to all faculty members of Electrical Engineering Department,
Veer Surendra Sai University of Technology, Burla, for their help in making the project a
successful one.
Finally, we take this opportunity to extend our deep appreciation to our family and
friends, for all that they meant to us during the crucial times of the completion of our project.

Abhisek Sarangi (1802050004)

Deepika Das (1802050021)

Suswapna Panda (1802050036)

 DECLARATION

This is to certify that the thesis entitled “CONTROL OF ELECTRIC MACHINE USING
FRACTIONAL ORDER PID CONTROLLER AND PID CONTROLLER BY
CONSIDERING ISE” which is submitted by us in partial fulfillment of the requirement for
the award of the degree, Bachelor of Technology, in Electrical Engineering , Veer Surendra
Sai University of Technology, Burla, Odisha, comprises only our original work and due
acknowledgement has been made in the text to all other material used. It has not been
previously presented in this institution or any other institution to the best of our knowledge.

Abhisek Sarangi (1802050004)

Deepika Das (1802050021)

Suswapna Panda (1802050036)

TABLE OF CONTENTS Page No.

Table of Contents 1
Abstract 2
Abbreviations and symbols 3
1.Introduction 5
2. DC Motor 7
2.1. Principle of DC Motor 7
2.2. Voltage equation of DC Motor 8
2.3. Types of DC Motor 8
2.4. Speed Control of DC Motor 10
3.DC Motor Speed Control Theory 15
4.Modelling of system under investigation 16
5.Controllers (PIDC, FOPIDC) 18
6.Simulation plot 20

6.1. Performance comparison of DC Motor among PIDC and FOPIDC 19

7.Results 21

8.Conclusion and future scope 22

9.References 22

1
 ABSTRACT

In this work, fractional order proportional integral derivative controller (FOPIDC) and
proportional integral derivative controller (PIDC) are proposed and implemented for speed
control of electric machine (D.C. Motor). Investigations are performed by considering the
second-order transfer function of D.C Motor. The desired response of the electric machine is
obtained by using tuned parameters of FOPIDC i.e. KP, KI, KD, λ and μ and tuned parameters
of PIDC i.e KP, KI, KD in the sense of time-domain specifications and performance indices (PI)
Integral of Square Error (ISE). Here a mathematical model of the process has been developed
using real plant data and performance is evaluated for PIDC and FOPIDC in ISE configuration.

This thesis focuses mainly on developing mathematical model for speed control of electrical
machine by using fractional order proportional integral derivative controller and proportional
integral derivative controller in MATLAB SIMULINK software.

2
 ABBREVIATIONS AND SYMBOLS
Abbreviations:
FC -fractional calculus

ISE-integral of square error

PI- performance indices

PIDC- proportional integral derivative controller

FOPIDC- fractional order PIDC

Symbols:

E: supplied emf

Eb: back emf

Ia: armature current

If: field current

N: speed of motor in rpm

P: no of poles

A: no of parallel paths

φ: flux

V: armature supply voltage

Ra: armature resistance

Rsh: shunt resistance

R1: variable resistance

R2: variable resistance

Re: variable resistance

La: armature inductance

Va: armature voltage

3
τ: applied torque

I: moment of inertia

ω: angular speed

H: proportionality constant

B: rotational friction coefficient

χ: proportionality constant

4
 1. INTRODUCTION
DC motors are the oldest types of electro-mechanical machines. They were invented after the
creation of the first sources of DC current. They are more advantageous over other AC
machines regarding controlling the speed regulation, they could be found in many applications
which require high-speed control accuracy and reliable effective dynamic responses such as
industrial, medical and military purposes where the speed must be variable in wide range . DC
motor speed is directly proportional to armature voltage, by adjusting the armature voltage. So,
it is important to design a proper controller to control the speed of a DC motor. The parameters
of the DC motor should be known since they are essential to build the mathematical model.

DC motors are used to generate rotational speed and linear position control industrial
applications which may include electric cranes, steel rolling mills, electric vehicles and robotic
manipulators etc [1]. The achievable efficiency controlling the motor’s speed and torque is
critical and of which higher performance value is vital for mentioned industrial applications.
This necessitate the need for higher performing dynamic control specifically targeting transient
response and steady-state response of the motor. Speed control of electric machine is very
essential because these are widely used in residential and industrial purposes. We use DC
Motors in many systems in our day to day life. For example, CPU fans, fume extinguishers,
toy cars etc. are all DC Motors which are operated by DC power supply. Most of the times we
will have to adjust the speed of the motors as per our requirement. A CPU Fan for example,
must be operated at high speed when the CPU is preforming heavy tasks like games or video
editing. But for normal usage like editing documents, the speed of the fan can be
reduced.Process control industry has seen many advances in the past two decades in terms of
the controller design and its implementation methods [1]. Proportional-Integral-Derivative
(PID) controller has been used for several decades since 1940 in industries for process control
applications. PID controllers tend to bring down the difference between the process variable
and set point by comparing the response with the desired value. PID controller is the most
common control algorithm used in process control applications. A proportional Integral
Derivative (PID) controller is employed in this control system in order to get desired response
of speed-Torque characteristics and overcome the problems of motor speed control under the
effects of varying load. The actual motor speed is measured by the armature current necessary
for the motor.[1]

Another efficient method for automating our DC motor speed control is to develop
mathematical model using Fractional Order Proportional Integral Derivative Controller
(FOPIDC). Fractional Order Proportional Integral Derivative Controller (FOPIDC) involve
mathematics of fractional calculus and it is a generalisation of classical calculus. In Fractional
Order Proportional Integral Derivative Controller (FOPIDC) the integral and derivative parts,
λ and μ are fractional. Its purpose is to take advantage of the introduction of these two
parameters and fulfil additional specification of design, ensuring robust performance of the
controlled system with respect to gain variation and noise.PID Controller is a well known
controller which is used in most control applications. Around 90% control applications use PID
controller as the control element. The tuning of PID controller is mostly done using Zeigler-

5
Nichols tuning method. But there are some inherent drawbacks of Ziegler-Nichols based
tuning. For the optimal turning of controller, the tuned values have to be changed using
computer simulation to meet the process needs. In PID controller the derivative and the integral
order are in integer. Fractional Order PID (FOPID) is a special kind of PID controller whose
derivative and integral order are fractional rather than integer. The key challenge of designing
controller is to determine the two key parameters 𝜆 (integral order) and 𝜇 (derivative order)
apart from the usual tuning parameters of PID using different tuning methods. Both 𝜆 and 𝜇
are in fraction which increases the robustness of the system and gives an optimal control. The
merit of using PID controllers lie in its simplicity of design and good performance including
low percentage overshoot and small settling time for slow industrial processes. The
performance of PID controllers can be further improved by appropriate settings of fractional-I
and fractional-D actions. This paper attempts to study the behaviour of fractional PID
controllers over integer order PID controllers. In a fractional PID controller, the I- and D-
actions being fractional have wider scope of design. Naturally, besides setting the proportional,
derivative and integral constants Kp, Td and Ti respectively, we have two more parameters:
the power of „s‟ in integral and derivative actions- λ and μ respectively. Finding [Kp, Td, Ti,
λ, μ] as an optimal solution to a given process thus calls for optimization on the five-
dimensional space. The performance of the optimal fractional PID controller is better than its
integer counterpart. Thus the proposed design will find extensive applications in real industrial
processes. [2]

Comparison is done between speed control of DC Motor using Fractional Order Proportional
Integral Derivative Controller (FOPIDC) and Proportional Integral Derivative Controller
(PIDC). Most efficient controller amongst the two is determined.

6
 2. DC MOTOR
The electrical motor operated by DC is called DC motor. It converts DC electrical energy to
mechanical energy.

2.1.Principle of DC Motor
When a current carrying conductor is placed in a magnetic field, it experiences a torque and
has a tendency to move. In other words, when a magnetic field and electrical field interact,
mechanical force is produced. The DC Motor or Direct Current motor works on that principle.
This is known as motoring action. [9]

To understand DC Motor in details lets consider the diagram below.

Fig. 1 Model of DC Motor [9]

The circle in the centre represents the direct current motor. On the circle, we draw the brushes.
On the brushes, we connect the external terminals, through which we give the supply voltage.
On the mechanical terminal, we have a shaft coming out from the centre of the armature, and
the shaft couples to the mechanical load. On the supply terminals, we represent the armature
resistance Ra in series.

Now, let the input voltage E, is applied across the brushes. Electric current which flows through
the rotor armature via brushes, in presence of the magnetic field, produces a torque Tg . Due
to this torque Tg the dc motor armature rotates. As the armature conductors are carrying
currents and the armature rotates inside the stator magnetic field, it also produces an emf Eb in
the manner very similar to that of a generator. The generated Emf Eb is directed opposite to
the supplied voltage and is known as the back Emf, as it counters the forward voltage.

The back emf like in case of a generator is represented by

NPφZ
Eb = (1)
60 A
7
2.2.Voltage Equation of DC Motor:
• As shown in figure, the armature supply voltage V has to overcome the opposition posed by
the back emf Eb and some other voltage drops such as brush drop and the voltage drop across
Ra.

• From fig .(1), we can write that , V= Eb + IaRa + Vb (2)

• But voltage drop across brushes is negligible.

∴V=Eb + IaRa (3)

Fig.2 Equivalent circuit of D.C. Motor [9]

2.3.TYPES OF DC MOTOR
A DC motor (direct current motor) has a lot of applications in today’s field of engineering and
technology. From electric shavers to automobiles, DC motors are everywhere. To cater to this
wide range of applications, different types of DC motors are used depending on the application.
The types of DC motor include:

● Permanent magnet DC motor (PMDC Motor)

● Separately Excited DC Motor

● Self Excited DC Motor - (1) Shunt Wound DC Motor

(2) Series Wound DC Motor

(3) Compound Wound DC Motor

(i) Differential Compound DC Motor -

(a) Short shunt DC Motor

(b) Long shunt DC Motor

(ii) Cumulative Compound DC Motor-

(a) short shunt DC Motor

(b) Long shunt DC Motor

8
 DC MOTOR

Separately excited Self-excited permanent magnet

aaaaaagmmmagnet

Shunt excited Series excited Compound excited

Cumulative compound Differential compound

Long shunt Short shunt

Fig.3 Types of DC Motor

9
2.4 SPEED CONTROL OF DC MOTOR

2.4.1. Speed Control of Separately excited DC Motor

Fig.4 Separately excited DC Motor model [3]

I. Field control methods:

Weakening of field causes increase in speed of the motor while strengthening the field causes
decreases the speed. Speed adjustment of this type of motor is achieved from the following
method:

i. Field rheostat control:

Here a variable resistance is connected in series with the field coil. Thus the speed is controlled
by means of flux variation. Reluctance control involving variation of reluctance of magnetic
circuit of motor. Field voltage control by varying the voltage at field circuit while keeping
armature terminal voltage constant.

II. Armature control methods:

Speed adjustment of separately excited DC motor by armature control may be obtained by any
one of the following methods :

i. Armature resistance control: – Here, the speed is controlled by varying the source voltage to
armature. Generally, a variable resistance is provided with the armature to vary the armature
resistance.

ii. Armature terminal voltage control involving variation of variation of voltage in armature
circuit.[3]

10
2.4.2. Speed Control of Self excited DC Motors (Shunt, Series, and Compound)

Fig.5 DC Shunt Motor model [4]

Fig.6 Armature voltage control of DC Shunt Motor [4]

Often we want to control the speed of a DC Motor on demand. Speed control of a DC motor is
either done manually by the operator or by means of an automatic control device. This is
different to speed regulation – where the speed is trying to be maintained (or ‘regulated’)
against the natural change in speed due to a change in the load on the shaft.[4]
The speed of a DC motor (N) is equal to:

V−𝐼𝑎 𝑅𝑎
N= (4)
Kφ
Therefore speed of the 3 types of DC motors – shunt, series and compound – can be controlled
by changing the quantities on the right-hand side of the equation above. [4]
Hence the speed can be varied by changing:

1. The terminal voltage of the armature, V.

2. The external resistance in armature circuit, Ra.
3. The flux per pole, φ.
Terminal voltage and external resistance involve a change that affects the armature circuit,
while flux involves a change in the magnetic field. Therefore speed control of DC motor can
be classified into:

11
 1. Armature Control Methods
2. Field Control Methods
We will discuss how both of these methods control the speed of DC series motor and DC shunt
motor.
Speed Control of DC Series Motor

Speed control methods for a DC series motor can be classified as:

1. Armature Control Methods
2. Field Control Methods
Armature Controlled DC Series Motor

Speed adjustment of a DC series motor by armature control may be done by:

1. Armature Resistance Control Method
2. Shunted Armature Control Method
3. Armature Terminal Voltage Control
1. Armature Resistance Control Method

This is the most common method employed. Here the controlling resistance is connected
directly in series with the supply of the motor as shown in the fig. 7

Fig.7 Armature Resistance Control of DC Shunt Motor [5]

The power loss in the control resistance of DC series motor can be neglected because this
control method is utilized for a large portion of time for reducing the speed under light load
condition. This method of speed control is most economical for constant torque. This method
of speed control is employed for DC series motor driving cranes, hoists, trains etc. [5]

Shunted Armature Control

The combination of a rheostat shunting the armature and a rheostat in series with the armature
is involved in this method of speed control. The voltage applied to the armature is varies by
varying series rheostat R1. The exciting current can be varied by varying the armature shunting
resistance R2. This method of speed control is not economical due to considerable power losses

12
in speed controlling resistances. Here speed control is obtained over wide range but below
normal speed.

Fig.8 Shunted Armature Control model [5]

Armature Terminal Voltage Control

The speed control of DC series motor can be accomplished by supplying the power to the motor
from a separate variable voltage supply. This method involves high cost so it rarely used. [5]

Field Controlled DC Series Motor

Speed adjustment of a DC series motor by field control may be done by:

1. Field Diverter Method
2. Tapped Field Control
Field Diverter Method

This method uses a diverter. Here the field flux can be reduced by shunting a portion of motor
current around the series field. Lesser the diverter resistance less is the field current, less flux
therefore more speed. This method gives speed above normal and the method is used in electric
drives in which speed should rise sharply as soon as load is decreased.

Fig.9 Field Diverter Model [5]

13
Tapped field control

This is another method of increasing the speed by reducing the flux and it is done by lowering
number of turns of field winding through which current flows. In this method a number of
tapping from field winding are brought outside. This method is employed in electric traction.

Fig.10 Tapped Field Model [5]

Speed Control of DC Shunt Motor

The classification of speed control methods for a DC shunt motor are similar to those of a DC
series motor. These two methods are:
1. Armature Control Methods
2. Field Control Methods

Armature Controlled DC Shunt Motor

Armature controlled DC shunt motor can be performed in two ways:

1. Armature Resistance Control

2. Armature voltage Control

Armature Resistance Control

In armature resistance control a variable resistance is added to the armature circuit. Field is
directly connected across the supply so flux is not changed due to variation of series resistance.
This is applied for DC shunt motor. This method is used in printing press, cranes, hoists where
speeds lower than rated is used for a short period only.
Armature Voltage Control

This method of speed control needs a variable source of voltage separated from the source
supplying the field current. This method avoids disadvantages of poor speed regulation and
low efficiency of armature-resistance control methods.

The basic adjustable armature voltage control method of speed d control is accomplished by
means of an adjustable voltage generator is called Ward Leonard System. This method involves

14
using a Motor-Generator(M-G) set. This method is best suited for steel rolling mills, paper
machines, elevators, mine hoists, etc. This method is known as Ward Leonard System. [4]
Advantages of Armature Controlled DC Shunt Motor

1. Very fine speed control over whole range in both directions

2. Uniform acceleration is obtained
3. Good speed regulation
4. It has regenerative braking capacity

Disadvantages of Armature Controlled DC Shunt Motor

1. Costly arrangement is needed, floor space required is more

2. Low efficiency at light loads
3. Drive produced more noise.
Field Controlled DC Shunt Motor

By this method a DC Shunt motor’s speed is controlled through a field rheostat.

Field Rheostat Controlled DC Shunt Motor

In this method, speed variation is accomplished by means of a variable resistance inserted in

series with the shunt field. An increase in controlling resistances reduces the field current with
a reduction in flux and an increase in speed. This method of speed control is independent of
load on the motor. Power wasted in controlling resistance is very less as field current is a small
value. This method of speed control is also used in DC compound motor.
Disadvantages of Field Rheostat Controlled DC Shunt Motor

• Creeping speeds cannot be obtained.

• Top speeds only obtained at reduced torque.
• The speed is maximum at minimum value of flux, which is governed by the
demagnetizing effect of armature reaction on the field.
Solid State Speed Control

Static Ward Leonard drives are being used these days because of the drawbacks of the classical
method. Rotating M-G sets are replaced by solid state converters to control DC motor speed.
The converters used are choppers (in case of DC supply) or controlled rectifiers (in case of AC
supply). This method is not suitable for intermittent load.
3.DC Motor Speed Control Theory
To derive the speed of a DC motor, we start with the equation for the DC motor’s EMF
(Electromagnetic Force). We know that the EMF equation of DC motor is equal to:

NPφZ
E= (5)
60 A

15
Hence rearranging the equation:

60A E
N= (6)
PZφ

PZ
With k = 60A , then:

E
N= (7)
Kφ

Hence with E = V – IaRa, we derive the speed of the DC motor (N):

V−Ia Ra
N= (8)
Kφ

4.Modelling of system under investigation:

Separately excited armature controlled D.C. Motor equivalent circuit is given by Fig.11. The
mathematical modelling of the system under study is obtained as follows:

Fig.11 Armature controlled separately excited D.C. Motor [6]

Fig.12. Armature equivalent Circuit [6]

16
We obtain the following equation by applying Kirchhoff’s voltage law and is shown in Eq. (9).
[6]
dla
Va = IaRa + La + ℮b (9)
dt

The equivalent circuit of the mechanical part of the system under study is given in Fig. 13,

Fig.13. Equivalent circuit of the mechanical part of the system under study

The equation describing the mechanical part of the system under study is

dω
τ=I +B (10)
dt

In the case of armature controlled D. C Motor, the torque and back emf equations are given
by Eq’s. (11,12). [6]

τ = χιa (11)

eb = Hω (12)

Over simplifying the Eqs. (9) – (12), we get the transfer function of the system under study as
eq. (13) [6]

ω(s) χ
= (Ra+sLa)(Is+B)+Hχ
(13)
νa(s)

Specifications of the system under study are taken as B= 0.002 ; Ra = 500 m ; 𝜒 = 1.23; I=
0.05 ; L a= 100 mH; H = 1.24.

By substituting the specifications mentioned above in Eq. (13), we obtain Eq. (14) [6] .

ω(s) 1.23
= (14)
νa(s) 0.005𝑠∧ 2+0.0252s+1.523

17
 5.CONTROLLERS (PIDC, FOPIDC)
DC motors are widely used in industrial application for its different advantage such as high
efficiency, low cost and flexibilities. For controlling the speed of DC Motor, Conventional
controller PI and PID were the most widely used controllers. But due to empirically selected
parameters Kp , Ki , Kd and limitation of convention PID controller to achieve ideal control
effect for higher order systems, a Fractional order Proportional-Integral-Derivative PID
Controller (FOPIDC) was proposed in this paper. [7]

Fig.14(a)

Fig.14(b)

Fig.14. (a) Proportional Integral Derivative Controller

(b) Fractional Order Proportional Integral Derivative Controller

The transfer function of PIDC and FOPIDC are given by eq. (15) and (16) respectively [8]
T K
|PIDC = Kp + SI + KDS (15)
F

18
 𝑇 𝐾
|FOPIDC = Kp +𝑆𝜆𝐼 + KD 𝑆𝜇 (16)
𝐹

In control systems, for comparison of simulation results different PI (Performance Indices)

have been considered. The commonly used controller performance measure is ISE. This PI
(Performance Index) is defined in Eq . (17) [2]
∞ ∞
ISE = ∫0 [xs (t) − x(t)]2 dt = ∫0 [Error]2 dt (17)

To overcome large errors ISE should be used.

Fig 15 (a)

Fig 15(b)

Fig. (15) Simulink diagrams of speed control of electric machine using (a)FOPIDC by ISE; (b)
PIDC by ISE respectively

19
 6.SIMULATION PLOT
6.1 Performance comparison of D. C Motor among PIDC and FOPIDC
Consider a system shown in Fig. 15(a) using PIDC and the proposed FOPIDC (Fig. 15(b)) with
ISE. The obtained results with PIDC and FOPIDC are compared and are plotted in Fig. 16.

Controller KP KI KD λ μ

PIDC 0.0238 0.0827 0.3980 - -

FOPIDC 0.7132 0.7499 0.5887 0.0856 0.9891

Fig. 16(a)

20
 Fig.16(b)

Fig. 16. Step response of electric machine with PIDC and proposed FOPIDC (a) output and

(b) error

7.RESULTS
In this work FOPIDC and PIDC are implemented for speed control of DC Motor and the
response of FOPIDC is compared with the response of PIDC. In fig.16(a) (curve-1) it is found
that FOPIDC reaches steady state faster as compared to PIDC. So the settling time for FOPIDC
is less than PIDC. In fig.16(b) (curve-2) it is found that FOPIDC makes its steady state error
zero in less time as compared to PIDC. Hence FOPIDC outperforms PIDC in the sense of
settling time and steady state error. But demerit of FOPIDC is that it’s steady state error at the
starting is more than PIDC.

21
 8.CONCLUSION AND FUTURE SCOPE
Simulink models were designed for speed control of DC Motor (separately excited) using
FOPIDC and PIDC by considering ISE. Performance of both the controllers were compared
and the more efficient one was determined. Speed control of other DC Motors, Induction
Motors, Synchronous Motor can be performed in similar way.

9.REFERENCES:
[1] Guoshing Huang and Shuocheng Lee, “PC-based PID speed control in DC motor,” 2008
International Conference on Audio, Language and Image Processing, 2008, pp. 400-402

[2] T. Chiranjeevi and R. K. Biswas, Closed-form solution of optimal control problem of a

fractional order system, J. King Saud Univ. – Sci. 31 (2019) pp. 1042-1047.

[3] Z. Haishui, W. Dahu, Z. Tong and H. Keming, “Design on a DC Motor speed Control,”
2010 International Conference on intelligent Computation Technology and Automation, 2010,
pp. 59-63

[4] Cabiles-Magnsino, Jessica & Magsino, Elmer. (2009). SPEED AND TORQUE CONTROL
OF A DC SHUNT MOTOR pp. 65-72

[5] Koondhar, Mohsin & Junejo, Abdul & Saand, Abdul & Keerio, Muhammad. (2016). Speed
Control Of DC Series Motor with Conventional and PLC Techniques. Pp.21-26

[6] T.Wati, Subiyanto, Sutarno, Simulation model of speed control DC motor using fractional
order PID controller, Journal of Physics: Conference series (2020). Pp. 1-14

[7] T. Chiranjeevi and R. K. Biswas, Formulation of optimal control problems of fractional

dynamic systems with control constraints, Journal of Advanced Research in Dynamical and
Control Systems 10 (2018) pp.201- 212.

[8] I. Podlubny, Fractional Differential Equations, Academic Press, New York, 1999.pp 644-
648

[9] E.Spooner , B. J. Chalmers and A. Sitzia,”Design study of DC motors with high-Tc

superconducting field winding” 1993 Sixth International Conference on Electrical Machines
and Drives (Conf.Publ.No.376),pp. 55-60

22