Desirably Adjusting Gain Margin, Phase Margin, and Corresponding Crossover Frequencies Based on Frequency Data

This paper presents an analytical method to tune a fixed-structure fractional-order compensator for satisfying desired phase and gain margins with adjustable crossover frequencies. The proposed method is based on the measured frequency data of the plant. Since no analytical model for the plant is needed in the compensator tuning procedure, the resulted compensator does not depend on the order and complexity of the plant. Also, sufficient conditions for the existence of a compensator with no zero and pole in the right half-plane for satisfying the aforementioned objectives are analytically derived. Furthermore, different hardware-in-the-loop experimental results are presented to show the efficiency of the proposed tuning method.