الفهرس 
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Abstract
Electric motors are an essential component used in many industrial applications. These motors have many different types that are used for a wide range of functions and performance, according to the application, including DC, AC and special motors. Among those important applications used are motor speed control in terms of starting and braking the motor in order to reduce starting current, reduce power line disturbance, save energy, adjust operating speed, control acceleration, adjusts torque limit, and eliminate mechanical components. Hence, it can be used the DC motor, which is characterized by high starting torque, rapid acceleration and deceleration, speed can be easily controlled over wide speed range, it can be built in wide range of sizes ,but it necessitate ongoing maintenance and high cost. It can also be used the AC motor, which is characterized by low maintenance cost, rugged construction, high performance, and high power density, and then apply a controller to these motors to control their speeds. There are many types of controllers, and one of the most famous types of controllers is the PID controller. It is characterized by ease of implementation, simplicity of structure and low cost, but its performance with the non-linear system is poor and as well as, a sluggish response in the event of a sudden change in the load torque disturbance, so it is compared with the fractional-order PID. It is characterized by more robust and stable, better response for system with long time delay and higher order system. This thesis focuses on the Fractional PID controller (FPID) for controlling AC and DC motors. The FPID controller consists of five operators. They are a proportional factor, integral factor, derivative factor, fractional-order integral , and fractional-order derivative .The behavior of any controller mainly depends on the selected values of the so one of the main objectives of this thesis is to optimize the values of these five operators to enhance the system’s behavior. In fact, there are numerous approaches to achieve the optimization problem, including classical method and intelligent method. Two specific optimizers (Grey Wolf Optimizer and Nelder-Mead) are identified in this thesis for optimize the FPID and also other specific optimizers (Genetic algorithm, and Autotuning) for PID due to their nature that makes them more suitable for the presented problem. Three case studies of the induction motor and the other three cases studies of the DC motor together with the proposed controllers simulated depended on MATLAB/SIMULINK. The obtained findings are discussed in detail. Moreover, real-world DC motor parameter estimation is performed experiments using MATLAB SIMULINK/ Arduino software connected to the Arduino UNO board for case No.3. Finally, the obtained findings in all the cases ensured that the suggested FPID controller always introduces superior performance indices, which makes it preferred over other traditional controllers.