Controlling DC Motor Speed with FoPID-Controllers

This work aims to propose several designs for controlling the direct-current motor (or simply DC motor) speed. Such motor is broadly used in numerous applications like blowers, lathe machines, cranes, elevators, milling machines, fans, drilling rigs, etc. To achieve our aim, the DC motor model will be first fractionalized and then the so-called Particle Swarm Optimization (PSO) algorithm will be executed to adjust the proposed controllers' parameters. This actually would be performed to the resultant fractional-order transfer function. Accordingly, several Fractional-order PID controllers (FoPID-controllers) will be formulated in agreement with the Outstaloup approach, which is typically used to approximate the yielded Laplacian operators s^±α, where 0 < α < 1. The controllers generated in accordance with different values of fractional-order values will be then competed to each other to outline which of them has an ability to provide to the closed-loop system of the DC motor speed model a minimal overshoot, short settling time and short rise time.