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Aiming at the problems of the existing methods in dealing with the time delay plant, a modified fractional-order proportional\u2013integral\u2013derivative (FOPID) controller for the first-order plus time-delay (FOPTD) system is developed. Assisted by a modified active disturbance rejection control (ADRC) scheme with increased observer bandwidth, the proposed FOPID controller inherently obtains good robustness to time-delay uncertainties and external disturbances. In addition, taking advantage of the fractional-order operator, the proposed controller can provide larger stability margin over the proportional\u2013integral\u2013derivative (PID) controller. By suitably establishing the relation between ADRC and FOPID controller parameters, the proposed controller can be analytically tuned based on the common design indices. A practical tuning guideline is developed according to frequency-domain characteristic analysis, making the proposed controller more acceptable to industrial application. The performance of the ADRC-based FOPID controller is tested by the control simulation of some typical FOPTD systems and a diesel engine speed regulation system. The efficiency of the ADRC-based FOPID controller is demonstrated by the comparisons with some existing controllers.<\/jats:p>","DOI":"10.1177\/01423312241261747","type":"journal-article","created":{"date-parts":[[2024,7,24]],"date-time":"2024-07-24T02:20:24Z","timestamp":1721787624000},"page":"810-824","update-policy":"https:\/\/doi.org\/10.1177\/sage-journals-update-policy","source":"Crossref","is-referenced-by-count":3,"title":["Robust fractional-order PID controller assisted by active disturbance rejection control for the first-order plus time-delay systems"],"prefix":"10.1177","volume":"47","author":[{"ORCID":"https:\/\/orcid.org\/0000-0003-0125-7425","authenticated-orcid":false,"given":"Weijia","family":"Zheng","sequence":"first","affiliation":[{"name":"School of Mechatronic Engineering and Automation, Guangdong Provincial Key Laboratory of Industrial Intelligent Inspection Technology, Foshan University, China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Xiaorong","family":"Li","sequence":"additional","affiliation":[{"name":"School of Mechatronic Engineering and Automation, Guangdong Provincial Key Laboratory of Industrial Intelligent Inspection Technology, Foshan University, China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"YangQuan","family":"Chen","sequence":"additional","affiliation":[{"name":"School of Engineering, University of California Merced, USA"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Ze-Hao","family":"Wu","sequence":"additional","affiliation":[{"name":"School of Mathematics and Big Data, Foshan University, China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Xiaohong","family":"Wang","sequence":"additional","affiliation":[{"name":"School of Automation Science and Engineering, South China University of Technology, China"}],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"179","published-online":{"date-parts":[[2024,7,23]]},"reference":[{"key":"bibr1-01423312241261747","doi-asserted-by":"publisher","DOI":"10.1016\/j.isatra.2019.10.010"},{"key":"bibr2-01423312241261747","doi-asserted-by":"publisher","DOI":"10.1016\/j.automatica.2008.07.003"},{"key":"bibr3-01423312241261747","doi-asserted-by":"publisher","DOI":"10.1016\/j.isatra.2018.04.016"},{"key":"bibr4-01423312241261747","doi-asserted-by":"publisher","DOI":"10.1016\/j.engappai.2008.06.003"},{"key":"bibr5-01423312241261747","doi-asserted-by":"publisher","DOI":"10.1016\/j.isatra.2022.04.047"},{"key":"bibr6-01423312241261747","doi-asserted-by":"publisher","DOI":"10.1016\/j.isatra.2020.12.030"},{"key":"bibr7-01423312241261747","doi-asserted-by":"publisher","DOI":"10.1016\/j.isatra.2020.12.030"},{"key":"bibr8-01423312241261747","unstructured":"Chen Y (2008) Impulse response invariant discretization of fractional order integrators\/differentiators. 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