Barbosa, Ramiro S.Jesus, Isabel S.Silva, Manuel F.Machado, J. A. Tenreiro2014-03-172014-03-172011978-3-642-17592-3978-3-642-17593-01867-8440http://hdl.handle.net/10400.22/4219The synthesis and application of fractional-order controllers is now an active research field. This article investigates the use of fractional-order PID controllers in the velocity control of an experimental modular servo system. The systern consists of a digital servomechanism and open-architecture software environment for real-time control experiments using MATLAB/Simulink. Different tuning methods will be employed, such as heuristics based on the well-known Ziegler Nichols rules, techniques based on Bode’s ideal transfer function and optimization tuning methods. Experimental responses obtained from the application of the several fractional-order controllers are presented and analyzed. The effectiveness and superior performance of the proposed algorithms are also compared with classical integer-order PID controllers.engbook part10.1007/978-3-642-17593-0_2