The Frequency and Real-Time Properties of the Microcontroller Implementation of Fractional-Order PID Controller

The paper presents time, frequency, and real-time properties of a fractional-order PID controller (FOPID) implemented at STM 32 platform. implementation uses CFE approximation discrete version Grünwald–Letnikov operator (FOBD). For these implementations, experimental step responses Bode frequency were measured. Real-time the approximations are also examined analyzed. Results tests show that use allows to better keep soft requirements with an accuracy level bit worse than when using FOBD. presented results can be employed in construction-embedded fractional control systems platforms limited resources.