The recent industrial revolution puts competitive requirements on most manufacturing and mechatronic processes. Some of these are economic driven, but most of them have an intrinsic projection on the loop performance achieved in most of closed loops across the various process layers. It turns out that successful operation in a globalization context can only be ensured by robust tuning of controller parameter as an effective way to deal with continuously changing end-user specs and raw product properties. Still, ease of communication in non-specialised process engineering vocabulary must be ensured at all times and ease of implementation on already existing platforms is preferred. Specifications as settling time, overshoot and robustness have a direct meaning in terms of process output and remain most popular amongst process engineers. An intuitive tuning procedure for robustness is based on linear system tools such as frequency response and bandlimited specifications thereof. Loop shaping remains a mature and easy to use methodology, although its tools such as Hinf remain in the shadow of classical PID control for industrial applications. Recently, next to these popular loop shaping methods, new tools have emerged, i.e. fractional order controller tuning rules. The key feature of the latter group is an intrinsic robustness to variations in the gain, time delay and time constant values, hence ideally suited for loop shaping purpose. In this paper, both methods are sketched and discussed in terms of their advantages and disadvantages. A real life control application used in mechatronic applications illustrates the proposed claims. The results support the claim that fractional order controllers outperform in terms of versatility the Hinf control, without losing the generality of conclusions. The paper pleads towards the use of the emerging tools as they are now ready for broader use, while providing the reader with a good perspective of their potential.

最近的工业革命对大多数制造和机电工艺提出了竞争要求。其中一些是经济驱动的，但是大多数对各个过程层的大多数闭环中实现的环路性能都有内在的预测。事实证明，只有通过可靠地调整控制器参数才能确保在全球化环境下的成功运行，这是应对不断变化的最终用户规格和原始产品属性的有效方法。尽管如此，必须始终确保在非专业过程工程词汇中的交流便利性，并且在现有平台上易于实施是首选。诸如建立时间，超调和鲁棒性之类的规范在过程输出方面具有直接含义，并且在过程工程师中仍然最受欢迎。鲁棒性的直观调整过程基于线性系统工具，例如频率响应及其带宽限制规范。循环整形仍然是一种成熟且易于使用的方法，尽管其诸如Hinf之类的工具仍处于工业应用中传统PID控制的阴影之下。近来，在这些流行的循环整形方法旁边，出现了新的工具，即分数阶控制器调整规则。后一组的关键特征是对增益，时间延迟和时间常数值变化的内在鲁棒性，因此非常适合环路整形。本文就两种方法的优缺点进行了概述和讨论。机电应用中使用的现实生活控制应用说明了提出的权利要求。结果证明了分数阶控制器在多功能性方面优于Hinf控件，而又不会失去结论的一般性。本文恳求使用新兴工具，因为它们已经准备好被更广泛地使用，同时为读者提供了对其潜力的良好认识。