Design of Fractional Order PID Controller Using Genetic Algorithm Optimization Technique for Nonlinear System

Abstract

AbstractIn this paper, fractional order PID controller, as well as integer order PID controller, is designed for non-linear system to enhance the system’s performance and gain the stability. The novelty of the work is achieved by the development of a new methodology for integer order PID and fractional order PID control tuning by optimizing the parameters of controllers using the Genetic Algorithms optimization technique. The performance of any system mainly depends upon how efficiently the controller will be working and hence that’s how most crucial part of the designing of FOPID controller or any controller is the tuning of its parameters. The uniquely designed and tuned parameters of the FOPID controller which is obtained by optimizing all the five parameters by using an evolutionary algorithm optimization technique i. e. a genetic algorithm which is a very powerful search tool and carrying heuristic characteristics. This method of tuning the FOPID controller which is designed and has been applied over the conical tank (nonlinear) system. The most important step in applying genetic algorithm is the selection of the fitness function and hence Integral of time multiplied by absolute error (ITAE) have been used here as the fitness function. Each chromosome comprised of all the five parameters of FOPID controller, which have been further optimised using above mentioned fitness function. From the simulation results, it can be observed that the solutions which are obtained optimally, presents an excellent performance for the system studied, by improving the behaviour of the system satisfactorily. Simulation results also show that the proposed FOPID controller gives improved performance over classical PID controller in terms of IAE and TV.