Direct Synthesis Based Fractional Order PID Controller Design for Non - Integer Order Systems with Time Delay

Abstract

Present study focuses on design and implementation of PI D controller to obtain the closed loop response of for non-integer order systems (NIOS). Controller is designed using direct synthesis (DS) method. Performance analysis in terms of IAE, ISE and ITAE is made and compared with that of literature reported methods. Robustness in terms of Maximum Sensitivity (Ms) is also analyzed. Tuning parameters q and , are selected with an arbitrary value for set-point trajectory and disturbance rejection. The closed loop response is studied for various non-integer order systems. Tuning parameters with respect to q (adjustable tuning parameter in assumed closed loop transfer function) and are arrived at for different case studies, q varying from 0.05 to 0.5 and varying from 0.5 to 6. FOMCON tool box of Simulink in MATLAB is employed for the simulation study.