Abstract
Fractional-order proportional-integral-derivative (PIλDμ) controllers can provide better performance than conventional PID controllers because of two additional parameters, which makes the design more flexible. However, these additional parameters make the tuning of controllers harder. It needs additional attention/tools for a proper/desired performance. Therefore, in this study, tuning of fractional order PID controller is converted to an optimisation problem, and it is solved by using charged system search (CSS). Test plants are defined to compare the output response of the delayed system for different orders. In addition, the performance of the system is evaluated/compared by optimising with the CSS and particle swarm optimisation (PSO). The comparison between these two algorithms is performed based on the time response (transient response) properties of each system. The results show that the CCS optimised systems outperform against PSO optimised systems for non-delayed plants; in case of delay in the systems, the PSO presents better performance.
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