... and tuning concept can be depicted in a simple manner with the single degree-of- freedom spring-mass system shown in Fig. 1. Two piezoelectric elements are shown in the system. The lower piezoelectric element is an actuator and sensor that can excite the system and measure the response. The upper...

... 19 06 2008 This paper gives an interpretation of the classical PID controller tuning based on the fractional calculus theory. The PID parameters are calculated according with the specifications of an elementary system whose open-loop transfer function is a fractional order...