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13th IFAC 2016. Istanbul,
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on Time Delay Systems
June 22-24, 2016. Istanbul, Turkey
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IFAC-PapersOnLine 49-10 (2016) 094–099

Fractional
Fractional Order
Order PI
PI Controller
Controller Design
Design for
for Time
Time Delay
Delay Systems
Systems
Fractional Order PI Controller Design for Time Delay Systems
Ali Yüce*, Nusret Tan* and Derek P. Atherton**
Ali Yüce*, Nusret Tan* and
Derek P. Atherton**
Ali Yüce*, Nusret Tan* and Derek P. Atherton**
*Inonu University, Engineering Faculty, Dept.  of Electrical and Electronics Eng., 44280,
*Inonu
Malatya, University,
TURKEY Engineering
(Tel: +90 422 377 Faculty, Dept.nusret.tan@inonu.edu.tr,
4817; e-mail: of Electrical and Electronics Eng., 44280,
ali.yuce@inonu.edu.tr)
*Inonu
Malatya, University,
TURKEY (Tel: Engineering
+90 422 377 Faculty,
4817; Dept.nusret.tan@inonu.edu.tr,
e-mail: of Electrical and Electronics Eng., 44280,
ali.yuce@inonu.edu.tr)
**University of Sussex,
Malatya, TURKEY Richmond
(Tel: +90 422Building,
377 4817;Falmer,
e-mail:Brighton BN1 9QT, UK (d.p.atherton@sussex.ac.uk)
nusret.tan@inonu.edu.tr, ali.yuce@inonu.edu.tr)
**University of Sussex, Richmond Building, Falmer, Brighton BN1 9QT, UK (d.p.atherton@sussex.ac.uk)
**University of Sussex, Richmond Building, Falmer, Brighton BN1 9QT, UK (d.p.atherton@sussex.ac.uk)
Abstract: This paper aims to look into the fractional PI controller design for a closed loop system having
Abstract: This paper aims to look into the fractional PI controller design for a closed loop system having
a plant withThis
time-delay.
paper aims The ultimate frequency of the system is found using
for aaaclosed
relay auto tuning test and
aAbstract:
plant with time-delay. Thetoultimate
look intofrequency
the fractional
of the PIsystem
controller designusing
is found looptuning
relay auto systemtest
having
and
then the
a plant parameters of a PI controller are estimated using this frequency in the Ziegler-Nichols (Z-N)
then thewith time-delay.
parameters of aThe ultimate frequency
PI controller of theusing
are estimated system is frequency
this found usinginathe relay auto tuning test
Ziegler-Nichols and
(Z-N)
tuningtheformula.
then parametersThese parameters
of parameters are are
a PI controller thenestimated
used for using
a fractional order PIincontroller
this frequency and the effect
the Ziegler-Nichols (Z-N)of
tuning
varying formula.
the These
fractional integrator are
order then
( used for a fractional order PI controller and
 ) of the PI controller on the closed loop step response is
the effect of
tuning formula.
varying These integrator
the Finally,
fractional parametersorder
are then
(  ) used
of theforPIa fractional order
on thePIclosed
controllerspecificationscontroller and
stepthe
loopcontrol effect of
response is
examined.
varying the Finally,
fractionalfor integrator
a given example,
order ( the table
) of thethat
PI includes
controllerspecifications
on the closed of the
loopcontrol system for
step response is
examined. for a given example, the table that includes of the system for
examined.λλ values
different
different Finally,
values
hasfor
has
been
been
obtained
a given
obtained
and according
example,
and the table to
according to
theincludes
that
the
desired specifications,
desired specifications of
specifications,
optimum fractional
the control
optimum system
fractional
order
for
order
PI controller
different is designed.
λ values has been The presented
obtained andresults are illustrated
according withspecifications,
to the desired some examples. optimum fractional order
PI controller is designed. The presented results are illustrated with some examples.
PI controller
© 2016,
Keywords:IFAC is(International
designed.
Fractional orderThe presented
Federation
PI, ofresults
Time-Delay, are illustrated
Automatic with
Control) Hosting
Ziegler-Nichols, Relay. some examples.
by Elsevier Ltd. All rights reserved.
Keywords: Fractional order PI, Time-Delay, Ziegler-Nichols, Relay.
Keywords: Fractional order PI, Time-Delay, Ziegler-Nichols,  Relay.

1. INTRODUCTION  PI controllers are well-known and commonly used controllers
1. INTRODUCTION PI
in controllers are well-known
industrial applications and commonly
because used controllers
of their simple structure
1. INTRODUCTION PI controllers
in industrial are well-known
applications and commonly
because of their used controllers
simple structure
The fractional calculus has been studied since 1695 (Das, and acceptable
in industrial robustness (Yıldırım et al., 2013; Åström and
The fractional and acceptableapplications because
robustness (Yıldırım ofet their simple
al., 2013; structure
Åström and
2008;
The Xue et al.,calculus has been itstudied
2007). However, has become sincean1695 (Das,
important Hägglund,
and 1995).
acceptable Likewise,
robustness P I

(Yıldırım wasetproposed
al., 2013; in (Podlubny,
Åström and
2008;fractional
Xue et al.,calculus has been itstudied
2007). However, has become sincean1695 (Das,
important Hägglund,

was proposed in (Podlubny,
1999) as a 1995). Likewise, 
research
2008; Xuebecause
research because
of theHowever,
et al., 2007). increase ofhas
of the increase it
computational
become an important
of computational
facilities
facilities Hägglund, generalization
1995). Likewise, of Pa IIPI
 controller, where changing
was proposed in (Podlubny,
and tools because
(Monje et 1999) as aofgeneralization
λ can be used of a PI controller,
P where changing
research
and tools (Monje of al.,
et the2010).
al., increase
2010).
A fractional
A fractional
order system
of computational
order system
can
facilities
can
the
1999)
the
value
as aofgeneralization
value λ can be used of
to adjust the frequency
a PI controller,
to adjust the frequencywhere response or
changing
response or
be described
anddescribed
tools (Monjeby a differential
et equation
al., 2010).equation
A fractionalwhere the
order order
system of the
can time response of the control system. The time response of the
be by a differential where the order of the the value
time of λ can
response be
of the used to
control adjust
system. the
The frequency
time response
response of or
the
derivative
be describedcan can be
by be any
a differentialreal number.
equation Taking
where the
thetheorder Laplace
of the systems I  controller
with ofP the
cannotThe betime
exactly computed
derivative any real number. Taking Laplace time
systemsresponse control system.
controllerThe
with P I methods. cannot response
be exactly of the
computed
transform
derivative of cansuch
be aaany differential
real number. equation
Taking givesthea Laplace
transfer using analytical solution is to use FSM
transform
function of
with such
a differential
fractional order equation
Laplace gives a variable
complex transfer systems
using analytical

controllerThe
with P I methods. cannot be exactly
solution is to use computed
FSM
transform
function with of such a differential
a fractional equation complex
order Laplace gives a variable
transfer technique. This
using analytical situation
methods. is also valid
Thevalid for
solution time delay
is delay systems
to usesystems
FSM
technique. This situation is also for time
such as swith , λ ∈ Rfractional
. This kind of transfer function is variable
called a

function a order Laplace complex which makeThis
technique. the system more complex.
λ ∈ RTransfer
as s  ,Order . This kind of transfer function is called which make the situation
system more is also valid for time delay systems
complex.
such et al.,aa

Fractional
such λ ∈ RTransfer
as s ,Order . This kind Function
of transfer(FOTF) (Monje
function is called
Fractional Function (FOTF) (Monje et al., which make the system more complex.
2010). TheOrder
Fractional importance
Transfer of fractional
Function (FOTF) order representation
(Monje et al., is
2010).
that The
fractional importance
order of fractional
differential order
equations representation
are claimed to is
be
2010).
that The importance
fractional order of fractional
differential orderare
equations representation
claimed to is
be
more
that adequate order
fractional to describe real world
differential equationssystems than those
are claimed of
to be
more adequate to describe real world systems than those of
integer
integer
order models
more adequate
order models
(Nonnenmacher
to describe real worldet
(Nonnenmacher
al., 1991).
etsystems
al., 1991).thanOne
One
of the
those of
of the
major
integer difficulties
order models with fractional
(Nonnenmacher order representations
al., 1991). One of
et representations is the
major difficulties with fractional order is the
computation
major difficultiesof thewithtime response,
fractional ordersuch as the stepis and
representations the
computation of the time response, such as the step and
impulse
computation responses. However,
of the However,
time response, these difficulties
such as thehave step been
and
impulse
overcome responses.
using FSM these
(Fourierthese difficulties
Seriesdifficulties
Method) have have
and IFTM been
impulse responses.
overcome FSM However,
using Transform (Fourier Series Method) and2015). been
IFTM
(Inverse Fourier
overcomeFourierusing Transform
FSM (Fourier Method) (Atherton
Series Method) et al.,
and2015).
IFTM
(Inverse Method) (Atherton et al.,
(Inverse
On Fourier
the other Transform
hand, time delay Method)is also(Atherton et al., problem
an important 2015).
On
for the other hand,
systems and timeoccurs
this delay isin alsomany an important
physical problem
systems.
On
for the other hand,
systems and thistimeoccurs
delay isin alsomany an important
physical problem
Therefore
for systems feedback
and control
this systems
occurs in with time
many delaysystems.
physical need to
systems.
Therefore
be considered feedback
for control systems
convenient results.withHowever,
time delay it need
is wellto
Therefore
be considered feedback control systems
for convenient results.withHowever,
time delay it need
is wellto
known that the
be considered for presence
convenientof a timeHowever,delay makes the
known that the presence of results.
a time delay makes it is wellthe
computation
known that of the time responses
presence of afor controldelaysystems
makesmore
computation
complicated, of
and time responses
approximate fortime
results, control
obtained systems
by
the
more
replacing
computation
complicated, of time
and responses
approximate for control
results, obtained systems
by more
replacing
the time delay
complicated, andby a Pade approximation, are byoften used.
the
Again,timesince
delay byapproximate
frequency a Padedomain
results, obtained
approximation,
data for a aredelay
time
replacing
often canused.
be
the
Again,timesince
delay by a Pade
frequency domain approximation,
data for a aredelay
time oftencan used.
be
obtained
Again, exactly,
since FSM
frequency computes
domain data accurate
for a timeresults except
delay for
can for
be
obtained exactly,
minimizedexactly, FSM
error FSM
dependingcomputes accurate
on accurate results
the numerical except
tolerance
obtained
minimized error computes results except for
selected
minimized since theydepending
error use exact on the numerical
frequency domain data. toleranceSo,
selected since theydepending
use exact on the numerical
frequency domain data. toleranceSo,
examples
selected in this paper focus on time delay models for control
examplessincein thisthey
paperuse exact
focus frequency
on time domainfor
delay models data. So,
control
systems
examples(Tan et al.,
in this paper2015).
focus on time delay models for control
systems (Tan et al., 2015).
systems (Tan et al., 2015).
2405-8963 © 2016, IFAC (International Federation of Automatic Control) Hosting by Elsevier Ltd. All rights reserved.
Copyright
Peer review©under
2016 responsibility
IFAC 94 Control.
of International Federation of Automatic
Copyright © 2016 IFAC 94
10.1016/j.ifacol.2016.07.487
Copyright © 2016 IFAC 94
2016 IFAC TDS
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2. DESIGN OF INTEGER ORDER PI CONTROLLER FOR

TIME DELAY SYSTEMS

The closed loop control system is given in Fig. 1 where C ( s )

is an integer order PI controller and G ( s ) is an integer order
transfer function that are given in (1)

Fig. 4. Relay output.

Fig. 1. Closed loop control system with PI controller and

integer order plant.
m m 1
1 z m s  z m 1 s       z0
C ( s )  k p (1  ) G (s)  n n 1
(1)
Ti s q n s  q n 1 s       q0

Fig. 5. The output of closed loop control system with relay.

where z , q are real parameters and m , n are integer
positive numbers. For a typical plant the oscillation obtained in the test
occurring at the relay input is as shown in Fig. 5. The critical
The open loop transfer function ( L ( s ) ) of the control system frequency is taken as the measured frequency and the critical
gain is computed from
is given in (2).
4h
Ku  (3)
L ( s )  C ( s )G ( s ) (2) a

where h represents the amplitude of the relay actuation and

a is the amplitude of the resulting oscillation. Both the
values for the critical frequency and gain are approximate
values based on using the describing function analysis for the
system.

From the values of critical gain K u and ultimate period Pu ,

Fig. 2. Closed loop control system with Relay and integer
the controller parameters ( k p Ti Td for the P, PI and
order plant.
PID gains are computed from Table 1 using the closed-loop
The relay method is very efficient for determining the critical Z-N method.
gain K u and critical frequency  u and a Matlab simulink
diagram for doing this is shown in Fig. 2. The relay input- Table 1. Ziegler-Nichols Tuning Formula.
output characteristic is given in Fig. 3 and relay output is
kp Ti Td
shown in Fig. 4.
P Ku / 2
PI K u / 2.2 Pu / 1.2
PID K u / 1.7 Pu / 2 Pu / 8

3. FRACTIONAL ORDER PI CONTROLLER DESIGN

USING FSM
The step responses of the fractional order PI controller for
different  values are plotted using the PI controller
parameters designed in Section 2. The step response of the
closed loop transfer function can be plotted using the FSM
(Atherton et al., 2015), since the FSM is based on Fourier
series technique that computes very accurate time responses
Fig. 3. Relay input-output characteristic. except for minimized error depending on numerical tolerance
using (4).

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
4 1
y s (t )   R e  P ( jk  s )  sin( k  s t ) (4)
 k  1( 2 ) k

The Fourier series for the square wave of -1 to 1 with

frequency  s  2  / T can be written as

4 1
r (t )   sin( k  s t ) (5)
 k  1( 2 ) k

where T is the period of the square wave. If r ( t ) passes

through the transfer function P ( s ) then the output, which is
the unit step response if T is sufficiently large, can be written
as (5). The proof of this can be done using convolution. The
details of the proof can be found in (Atherton et al., 2015).
The control system diagram with fractional order PI
controller is shown in Fig. 6. C f ( s ) is a fractional order PI
controller as given in (6). L ( s ) is an open loop transfer Fig. 7. Step response performance criteria chart
(http://scilab.ninja/study-modules/scilab-control-engineering-basics/).
function that is given in (7) and P ( s ) is a closed loop transfer
function that is given in (8). 4. EXAMPLES
Example 1: Consider the first order transfer function with
time delay as below,
s
26 e
G (s)  (9)
16.2 s  1

The step response of G ( s ) for the closed loop system

Fig. 6. The closed loop control system with fractional order without the controller namely unity feedback response of the
PI controller and integer order plant. system (only k p  1 ) is shown in Fig. 8 and is seen to be
1 almost an oscillation. Firstly, the critical values are obtained
C f ( s )  k p (1  
) (6) using the simulink diagram given in Fig. 2.
Ti s

L ( s )  C f ( s )G ( s ) (7)

Y (s) L(s)
P (s)   (8)
R (s) 1  L(s)

There are some specifications which may be used for all step
response graphs. Typically, these are rise time ( t r ), peak time
( t p ), settling time ( t s ) and maximum percent overshoot
( M p ). These are shown in Fig. 7.

Thus, one can obtain specifications on each step response

plotted with FSM for different  values and tabulate them.
This technique can be called  tuning based on Z-N method
for a fractional PI controller and the value of  which gives
the best desired step response is chosen. Fig. 8. The step response of the closed loop system with unit
gain.

Thus, amplitude ( a ), oscillating period ( Pu ) and critical gain

( K u ) are computed from Fig. 9, as a  1.5570 , Pu  3.8847
and K u  0.8178 .

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Table 2. Step response performance values for different

values of  .

 tr tp ts M p (% )
%2 %5
1.4 2.553 5.2 56.23 42.22 74.1
1.2 2.520 4.6 19.86 14.1 60.4
1.0 2.488 4.2 10.74 7.239 50.9
0.8 2.460 3.9 11.83 8.101 43.4
0.6 2.434 3.7 8.668 8.082 36.8
0.4 2.413 3.5 >200 7.962 30.8
0.2 2.401 3.3 >200 >200 24.8

Fig. 9. The output of closed loop control system with relay. Table 2 shows that overshoot, rise time, peak time and
settling time decrease with decreasing  . However, the
The PI controller parameters, using Table 1, are then settling time increases again for low values of  . For 0.6-0.8
band,  is very convenient for this example. In this range,
Ku 0.8178
kp    0.3717 (10) the step responses show reasonable performance than integer
2.2 2.2 order PI controller. Thus, one can obtain good results using
integer order PI controller parameters selecting the  .
Pu 3.8847
Ti    3.2373 (11)
1.2 1.2 Example 2: Consider the second order transfer function with
time delay as below,
Thus, integer order PI controller and fractional order PI
controller with the same control parameters are obtained as 8e
 0.6 s

(12) using (1) and (6). L ( s ) is computed as (13) for using in G (s)  (14)
( s  1)( s  2)
FSM.
The procedure in example 1 is repeated in this example. Fig.
0.3089 0.3089 11 shows that the system is unstable in closed loop with a
C ( s )  0.3717 (1  ) , C f ( s )  0.3717 (1  ) (12)
s s

unit gain controller.
 s
(9.6642 s  2.9848) e
L(s)   1 
(13)
16.2 s s

Fig. 11. The step response of the closed loop system with unit
gain.

Fig. 10. The step responses of closed loop control system

with fractional PI controller for different values of  .

Step responses of the system are plotted in Fig 10 using the

FSM for some different values of  . Table 2 shows some
specification values for the step responses for different  .

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Step responses of the system are plotted in Fig 13 from the

FSM results. Table 3 shows some specification values of the
step responses.

Table 3. Step response performance values for different

values of  .

 tr tp ts M p (% )
%2 %5
1.4 2.214 6.6 16.77 11.010 20.6
1.2 2.160 2.797 15.46 8.468 14.8
1.0 2.108 2.697 10.01 6.021 14.4
0.8 2.065 2.6 56.50 21.240 13.7
0.6 2.025 2.499 >200 >200 12.5
Fig. 12. The output of closed loop control system with relay. 0.4 1.992 2.4 >200 >200 10.6
0.2 1.971 2.298 >200 >200 8.2
Fig. 12 shows the results of the relay auto tuning test from
which a  1.6375 and Pu  3.0597 are obtained.
Again the rise time, peak time and percentage overshoot
Thus, from (3), K u  0.7776 and using Table 1 the PI decrease, but the settling time increases, with decreasing  .
controller parameters are estimated as One can probably get the best responses in the band 1.0-1.2
of  .
Ku 0.7776
kp    0.3534 (15) Example 3: Consider a third order transfer function with
2.2 2.2
time delay as
Pu 3.0597
Ti    2.5498 (16) 40 e
2 s

1.2 1.2 G (s)  (19)

s ( s  1)( s  10)
Using (1) and (6), the integer and fractional order controller
are given as The output of closed loop control system under relay element
is shown in Fig. 14.
0.3922 0.3922
C ( s )  0.3534(1  ) , C f ( s )  0.3534(1  
) (17)
s s

then the open loop transfer function with the fractional order
controller is derived as
  0.6 s
(2.8272 s  1.1088) e
L(s)  2  1 
(18)
s  3s  2s

Fig. 14. The output of closed loop control system with relay.

From Fig. 14, a  9.4666 , Pu  12.2564 and then

K u  0.7776 is found from (3). Thus, the parameters of the
integer order PI controller are

Ku 0.1345
kp    0.0611 (20)
2.2 2.2
Fig. 13. The step responses of closed loop control system
with fractional PI controller for different values of  .

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Pu 12.2564 5. CONCLUSIONS
Ti    10.2137 (21)
1.2 1.2 In this paper, FSM method is implemented for computing
step responses. Thus, time responses of complex structured
and the designed controllers are transfer functions (fractional order and time delay) can be
exactly computed. Ziegler-Nichols and Relay method are
0.0979 0.0979
C ( s )  0.0611(1  ) , C f ( s )  0.0611(1  ) (22) used for integer order PI controller design. Using FSM, the

s s step responses of the closed loop system with fractional order
PI controller which includes the parameters of designed
The open loop transfer functions with C f ( s ) is integer order PI controller are easily plotted for different 
values. As a result, if the settling time is ignored, when 
 2 s
(2.444 s  0.24) e tends to zero, the systems give best step response
L(s)  (23)
s
 3
 11 s
2
 10 s
 1
performance for all of transfer function structure. Examples
show that 1.2-0.8 band of  shows generally best time
response performance for %2 and %5 settling time value.

ACKNOWLEDGMENT

This work is supported by the Scientific and Research

Council of Turkey (TÜBİTAK) under Grant no. EEEAG-
115E388.

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