Fractional order PID control of a MAGLEV system

Arturo Rojas-Moreno, Cristian Cuevas-Condor

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

13 Scopus citations


The control objective of this work is to levitate a magnetic disc in a desired position. For such a task, we use two controllers: the IO PID (Integer Order Proportional Integral Derivative) and the FO (Fractional Order) PID controllers. The IO PID controller is made fractional by substitution of the Laplace differentiator s and integrator s-1 of the IO PID algorithm by sa and s-e, respectively, where a and ß are fractional numbers between 0 and 1. The IO and FO PID controllers are tested experimentally in a Maglev (Magnetic Levitation) Apparatus. According to the experimental results, the steady state error, the settling time, as well as the percent overshoot are improved employing the FO PID control system.

Original languageEnglish
Title of host publicationProceedings of the 2017 Electronic Congress, E-CON UNI 2017
PublisherInstitute of Electrical and Electronics Engineers Inc.
Number of pages4
ISBN (Electronic)9781538622780
StatePublished - 28 Jun 2017
Event2017 Electronic Congress, E-CON UNI 2017 - Lima, Peru
Duration: 22 Nov 201724 Nov 2017

Publication series

NameProceedings of the 2017 Electronic Congress, E-CON UNI 2017


Conference2017 Electronic Congress, E-CON UNI 2017


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