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Firstly, the presented practical FOPI tuning method formulates the FOPI controller parameter identification problem via virtual reference feedback tuning (VRFT). Under the lack of accurate models, the proposed model-free method depends only on the measured input\u2013output data of the closed-loop PMSM servo system. Secondly, Bode\u2019s ideal transfer function is incorporated into the VRFT with consideration of the systematic fractional dynamics. Thus, the properties of the resulting system may be approximated to the desired fractional-order reference model. Thirdly, the proposed method fully considers optimal performance constraints on the stability requirements, sensitivity criteria, frequency-domain and time-domain characteristics. Then, the comprehensive optimization problem is derived and solved. Using suitably tuned parameters, the robustness and disturbance rejection ability of the VRFT-based FOPI control system are enhanced to achieve optimal performance. The convergence of the proposed method is proved by theoretical analysis. Finally, experimental results are presented to illustrate the effectiveness of the proposed model-free FOPI control method for the PMSM servo system.<\/jats:p>","DOI":"10.1177\/0142331217751040","type":"journal-article","created":{"date-parts":[[2018,2,6]],"date-time":"2018-02-06T02:11:13Z","timestamp":1517883073000},"page":"23-35","update-policy":"https:\/\/doi.org\/10.1177\/sage-journals-update-policy","source":"Crossref","is-referenced-by-count":30,"title":["Model-free tuning strategy of fractional-order PI controller for speed regulation of permanent magnet synchronous motor"],"prefix":"10.1177","volume":"41","author":[{"given":"Yuanlong","family":"Xie","sequence":"first","affiliation":[{"name":"National NC System Engineering Research Center, State Key Laboratory of Digital Manufacturing Equipment and Technology, School of Mechanical Science & Engineering, Huazhong University of Science & Technology, Wuhan, 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