Abstract
In this paper, an approach for optimal tuning of fractional order proportional derivative (FOPD) and a certain class of fractional order proportional integral derivative (FO-PID) controllers for integer-order integrating time delay systems based on frequency method is developed. For this purpose, particle swarm optimization (PSO) algorithm has been used for optimal controller parameters tuning. Performance of the proposed tuning method obtained by using these PD and PID controllers with PSO algorithm with the results without using PSO is compared. The investigations revealed that the proposed algorithm is relatively simple, reliable and efficient and suitable for controlling integer-order integrating time delay systems. Key words: Fractional order proportional derivative (FOPD), fractional order proportional integral derivative (FO-PID), Integrating time delay system, particle swarm optimization, stability boundary locus.
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