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A Conformal Mapping Based Fractional Order Approach for Sub-optimal Tuning of PID Controllers with Guaranteed Dominant Pole Placement

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Figure

Fig. 1: Root locus and unit step response for increasing .  m
Fig. 2. Formulation of LQR based PID controller for second order processes.
Fig. 3. Position of the controller zeros in complex  plane.  w
Fig. 4. Change in the position of the open loop controller zeros and dominant closed loop  poles with gradual decrease and increase in q for an under-damped process
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