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Moreover, the filtering of the derivative action is explicitly formulated using a generalized second-order reference model. Numerical simulations with simple systems illustrate some general principles that can be used as guidelines for the tuning of fractional PID controllers. For more complex or delayed systems, a tuning method based on the time moments approach is also proposed. Numerical examples illustrate the capabilities of this tuning technique. <\/jats:p>","DOI":"10.1177\/0959651811423616","type":"journal-article","created":{"date-parts":[[2011,10,28]],"date-time":"2011-10-28T00:50:00Z","timestamp":1319763000000},"page":"486-496","update-policy":"https:\/\/doi.org\/10.1177\/sage-journals-update-policy","source":"Crossref","is-referenced-by-count":1,"title":["Tuning of a new class of robust fractional-order proportional\u2013integral\u2013derivative controllers"],"prefix":"10.1177","volume":"226","author":[{"given":"M","family":"Tenoutit","sequence":"first","affiliation":[{"name":"University of Poitiers, Poitiers, France"}]},{"given":"N","family":"Maamri","sequence":"additional","affiliation":[{"name":"University of Poitiers, Poitiers, France"}]},{"given":"J-C","family":"Trigeassou","sequence":"additional","affiliation":[{"name":"University of Bordeaux I, Bordeaux, France"}]}],"member":"179","published-online":{"date-parts":[[2011,10,27]]},"reference":[{"key":"bibr1-0959651811423616","doi-asserted-by":"publisher","DOI":"10.1007\/978-1-84996-335-0"},{"volume-title":"Network analysis and feedback amplifier design","year":"1945","author":"Bode H. 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