Tepljakov, AlekseiGonzález, Emmanuel A.Petlenkov, EduardBelikov, JunMonje Micharet, Concepción AliciaPetrás, Ivo2023-11-292023-11-292016-01-01ISA Transactions, (2016), v. 60, pp.: 262-273.0019-0578https://hdl.handle.net/10016/38993The problem of changing the dynamics of an existing DC motor control system without the need of making internal changes is considered in the paper. In particular, this paper presents a method for incorporating fractional-order dynamics in an existing DC motor control system with internal PI or PID controller, through the addition of an external controller into the system and by tapping its original input and output signals. Experimental results based on the control of a real test plant from MATLAB/Simulink environment are presented, indicating the validity of the proposed approach.11eng© 2015 ISA. Published by Elsevier Ltd. All rights reserved.Atribución-NoComercial-SinDerivadas 3.0 EspañaFractional calculusFractional PID controlSISO controlProcess controlController tuningDC motorServo systemresearch articleRobótica e Informática Industrialhttps://doi.org/10.1016/j.isatra.2015.11.012open access262273ISA TRANSACTIONS60AR/0000017784