Factorial design for robustness evaluation of fractional PID controllers

J. Viola, L. Angel

    Research output: Contribution to journalArticle in an indexed scientific journalpeer-review

    14 Scopus citations


    This paper presents the factorial design for robustness evaluation between different PID controllers for the control of a nonlinear system with parametric uncertainties and presence of external disturbances. The comparison has been realized between the integer PID, fractional PID and PID SIMC controllers. The robustness analysis uses a factorial design of experiments. The factorial design has as input factors the uncertainty in the gain of the plant, the presence of random noise in the feedback loop, and the existence of external bounded disturbance. The outputs of the factorial design measure the performance of each PID control system using the response to Step Input and Control Action signal. The results show that the fractional PID controller has a better performance front to plant uncertain and an excellent rejection to external disturbances, which indicating a greater robustness of the process and lower power consumption.

    Original languageEnglish
    Article number7111981
    Pages (from-to)1286-1293
    Number of pages8
    JournalIEEE Latin America Transactions
    Issue number5
    StatePublished - 1 May 2015

    Bibliographical note

    Publisher Copyright:
    © 2015 IEEE.


    • FOPID
    • Fractional control
    • PID SIMC
    • factorial design


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