Muñoz Yáñez-Barnuevo, JorgeMonje Micharet, Concepción AliciaNagua Cuenca, Luis FernandoBalaguer Bernaldo de Quirós, Carlos2022-02-032022-10-012020-10Muñoz, J., Monje, C. A., Nagua, L. F. & Balaguer, C. (2020). A graphical tuning method for fractional order controllers based on iso-slope phase curves. ISA Transactions, 105, 296–307.0019-0578https://hdl.handle.net/10016/34035Fractional order controllers are widely used in the robust control field. As a generalization of the ubiquitous PID controllers, fractional order controllers are able to reach design specifications their integer counterparts cannot, and as a result they outperform them at particular situations. Their main drawback is that generalization of the design tools is not always evident, and therefore tuning this kind of controller is always a new and different challenge. Existing methods often use numerical computation to find the controller parameters that fit the specifications. This paper describes a graphical solution for fractional order controllers, which avoids the solution by nonlinear equations and helps designer to solve the control problem in a very intuitive way. This approach is tested in the servomotors of a real bio-inspired soft neck and results are compared with those obtained from other control strategies. The experiments show that the controller tuned by this method works as expected from a robust controller and that this approach is very competitive compared to other state of the art methods, while offering a more simplified and direct tuning process.12eng© 2020 ISA. Published by Elsevier Ltd. All rights reserved.Atribución-NoComercial-SinDerivadas 3.0 EspañaFractional order controllerTuning methodsRobust controlSoft roboticsresearch articleRobótica e Informática Industrialhttps://doi.org/10.1016/j.isatra.2020.05.045open access296307ISA Transactions105AR/0000026403