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FOTF is part of FOMCON, you can simply disregard the facilities of the latter and use the core toolbox.
Ok, sorry, reread your question. Yes, you can download the paper here: https://www.researchgate.net/publication/224561406_Fractional_Order_Control_-_A_TutorialDear Pritesh,
What sort of reference would you like to have?
If you want a bibliographical reference, then you should check out, e.g., the tutorial paper “Fractional Order Control – A Tutorial” and the “FO Systems and Controls: Fundamentals and Applications” book listed in the literature review here on the website.Hi,
If you consider a plant of the form $G(s)=k/s^2$ and a controller of the form $C(s)=K_p+K_i /s^{\lambda}+K_d s^{\mu}$ then here are a couple of points to consider.
1. You may want to cancel the effect of the second integrator. Thus the structure of the controller is of PD type.
2. By changing the parameters $K_p$, $K_d$, and $\mu$ it is possible to satisfy some specifications in both time and frequency domains. Keeping $K_p$ small and $\mu$ close to 1 will ensure the effect of (partial) cancellation one of the poles $s=0$ of the double integrator system.
