Abstract
Fractional order controllers have been used intensively over the last decades in controlling different types of processes. The main methods for tuning such controllers are based on a frequency domain approach followed by optimization routine, generally in the form of the Matlab fminsearch, but also evolving to more complex routines, such as the genetic algorithms. An alternative to these time consuming optimization routines, a simple graphical method has been proposed. However, these graphical methods are not suitable for all combinations of the imposed performance specifications. To preserve their simplicity, but also to make these graphical methods generally applicable, a modified graphical method using a very straightforward and simple optimization routine is proposed within the paper. Two case studies are presented, for tuning fractional order PI and PD controllers.
Highlights
Fractional order PIDs (FO-PIDs) have been employed in various engineering fields ranging applications in a wide variety of domains
It is for this reason, that the fractional order PIDs have the potential to meet more design specifications than the traditional PIDs and to increase the performance and robustness of closed loop systems [1,2,3,4]
If no exact solution exists, the current graphical methods fail at the tuning of the FO-PID controller
Summary
Fractional order PIDs (FO-PIDs) have been employed in various engineering fields ranging applications in a wide variety of domains. The second case study consists in the design of a FO-PD controller for a second order process with integrator effect. Simulation results in both case studies show that the fractional order controllers tuned using the proposed algorithm can meet all performance specifications. To exemplify the optimized graphical methods for tuning fractional order controllers, the first case study has no exact solution, while the second case study has an exact solution.
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