Implementation of FOPID controller with modified harmony search optimization for precise modelling and auto-tuning of nonlinear systems

Abstract

This research aims to optimize the fractional order proportional integral derivative (FOPID) controller for nonlinear process tests. Instead of relying on the traditional trial-and error method for dynamic parameter selection, this proposes a modified harmony search optimization method to compute the optimal dynamic parameters. Based on the physical parameters, using mathematical modelling techniques system transfer function is determined. Additionally, the delay of the control scheme is determined using the Open Loop Transfer Function (OLTF) response. The dynamic parameters of the FOPID controller are evaluated using the Harmonic Search Algorithm – Fractional Order Proportional Integral Derivative (HAS_FOPID) optimization technique, which aims to minimize the system's Integral Square Error (ISE). Time responses, including rise time, peak time, and peak overshoot, are obtained and optimized through the HAS_FOPID algorithm. To verify systems stability, the output response is analysed using various techniques such as bode plots, pole placement, and Nyquist plots. Furthermore, the HAS_FOPID optimization technique is compared with other natural optimization techniques to assess its effectiveness. The research also evaluates the system's robustness by supply/ load disturbances. The objective is to demonstrate that, the optimized HAS_FOPID technique, has significantly enhanced control performance, stability, and robustness of nonlinear systems compared to natural and alternative optimization approaches.