FPGA-Based Implementation of Fractional-order PID controllers

This book provides a comprehensive overview of fractional-order PID control strategies, with a particular focus on both set-point and variable set-point methods. It presents the design, development and implementation of FPGA-based Fractional-order Proportional-Integral-Derivative (FOPID) controllers using a hybrid fixed- and floating-point architecture, optimised for real-time embedded applications. The methodologies are seamlessly integrated with MATLAB/Simulink and Xilinx Vivado workflows, providing practical and replicable solutions for researchers, engineers, and system developers. Real-time validation is achieved through the FPGA-in-the-Loop (FIL) technique, which is tested across various DC motor models, including Permanent Magnet, Series, Shunt, and Brushless DC motors, using the Xilinx Zynq-7000 SoC platform. This book is particularly valuable to professionals working in fractional-order control, classical PID design, digital approximation techniques, and embedded hardware-software co-design. It addresses critical limitations of conventional PID controllers, especially in systems characterised by nonlinearity or long time delays, which are common challenges in industrial and autonomous applications. Given that nearly 80% of low-level industrial controllers are PID-based, this work makes a significant contribution to advancing next-generation control systems for real-time automation. Additionally, the book serves as a robust academic resource for undergraduate and postgraduate students in the fields of control systems, digital design, and embedded electronics.The key highlights of the book are as follows:- Comprehensive review of fractional-order controller theory and design.- Implementation of hybrid fixed- and floating-point architectures on FPGA.- Application of FPGA-in-the-Loop (FIL) methodology for real-time validation.- Practical demonstration of FOPID controllers using the Xilinx Zynq-7000 platform.- Valuable for research, development, and instruction in both academic and industrial contexts