Design of a fractional order PID controller with application to an induction motor drive

Ashraf Saleem*, Hisham Soliman, Serein Al-Ratrout, Mostefa Mesbah

*Corresponding author for this work

Research output: Contribution to journalArticlepeer-review

15 Citations (Scopus)


In this paper, a new method for designing a fractional-order proportional-integral-derivative (FO-PID) controller with an application to an induction motor drive is proposed. In the proposed method, the motor drive is modeled using an autoregressive with exogenous input (ARX) model whose parameters are experimentally identified using real I/O data. A genetic algorithm is then used to find the FO-PID parameters. To guarantee the robustness of the controller against load variations, minimax optimization is adopted. To validate the results, the proposed controller is applied to a real-life motor drive using a hardware-in-the-loop (HIL) simulator. The experimental results show that the proposed controller significantly improves the time response of the induction motor compared to a conventional PID controller. It also shows it is robust against motor load variations.

Original languageEnglish
Pages (from-to)2768-2778
Number of pages11
JournalTurkish Journal of Electrical Engineering and Computer Sciences
Issue number5
Publication statusPublished - 2018


  • ARX model
  • Al-Alaoui operator
  • Fractional order PID
  • Hardware-in-the-loop
  • Induction motor
  • Nonlinear optimization

ASJC Scopus subject areas

  • Computer Science(all)
  • Electrical and Electronic Engineering


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