Abstract
This paper presents an analytical design method for fractional order proportional integral (FOPI) controller for the spherical tank which is modelled as a first order plus dead time (FOPDT) process. The design is based on the Bode’s ideal transfer function and fractional calculus. By using frequency domain, the proposed FOPI tuning rules are directly derived for a generalized first order plus dead time process and then applied to the transfer functions obtained at various operating points of the spherical tank. The performance of the designed FOPI controller is compared with the conventional integer order proportional integral derivative (IOPID) controller in simulation.
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