Abstract
In this paper, fractional-order proportional-derivative (FOPD) controller is designed based on three frequency domain design criteria for the bee colony approximated fractional-order first-order plus dead time system (FOFOPDT). Three tanks connected interactively in series are considered for the study. As the process taken is a nonlinear process, local linear FOFOPDT model is developed for each region separately minimizing root mean square error using bee colony optimization algorithm. Time and frequency response of the original process is compared with the approximated model for validating the model. Since there are three controller parameters for both FOPD controller, three design criteria are fulfilled. Here proportional gain, derivative gain, and order of the differentiator are the three controller parameters of the FOPD controller. Simulation results under servo, regulatory, and parameter variations are reported.
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