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The main aim of this paper is to compare the closed-loop system based on combination of Fractional-order PI and Particle Filter with combination of Fractional-order PI and Kalman Filter, based on quality IAE index. Authors verified the results of a real-world experimental setup which was the Modular Servo System. The article is a combination of previous work and implementation of fractional-order PI controller with Particle Filter or Kalman Filter to a real-world system.