Abstract
In this paper the authors present a novel control algorithm based on control error sign-dependent variable-fractional-order PI controller. The algorithm is being optimized via ITSE criterion for control error. It is tested both for unconstrained control signal and a more real-case scenario, i.e. ±2.5 saturation on control signal. The algorithm is tested for A-, B-, D-and E-type variable-order PI controllers and compared to basic PI and fractional-PI (FPI) controllers. Important parameters, including rise and settling time, overshoot and peak time of unit-step response, as well as graphical representation of unit-step response are presented. Conducted numerical simulations show some interesting behaviour of the A-type definition both in non-limited and limited control signal cases, i.e. switching between derivation and integration action. Moreover, collected unit-step response parameters indicate the A-type definition to be the best behaving in all considered criteria. However, some unwanted minor oscillations in the unit-step response are to be observed, whose origin will be investigated in further research.
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