Dominant pole placement with fractional order PID controllers: D-decomposition approach

Petar D Mandić; Tomislav B Šekara; Mihailo P Lazarević; Marko Bošković

doi:10.1016/j.isatra.2016.11.013

Dominant pole placement with fractional order PID controllers: D-decomposition approach

ISA Trans. 2017 Mar:67:76-86. doi: 10.1016/j.isatra.2016.11.013. Epub 2016 Dec 6.

Authors

Petar D Mandić¹, Tomislav B Šekara², Mihailo P Lazarević³, Marko Bošković⁴

Affiliations

¹ Dept. of Mechanics, Faculty of Mechanical Engineering, University of Belgrade, Kraljice Marije 16, Belgrade, Serbia. Electronic address: pmandic@mas.bg.ac.rs.
² Signals and Systems Dept., School of Electrical Engineering, University of Belgrade, Bulevar kralja Aleksandra 73, Belgrade, Serbia. Electronic address: tomi@etf.rs.
³ Dept. of Mechanics, Faculty of Mechanical Engineering, University of Belgrade, Kraljice Marije 16, Belgrade, Serbia. Electronic address: mlazarevic@mas.bg.ac.rs.
⁴ Chair of Automatic Control, Faculty of Technical Sciences, University of Novi Sad, Trg Dositeja Obradovica 6, Novi Sad, Serbia. Electronic address: marko.boskovic@uns.ac.rs.

PMID: 27939223
DOI: 10.1016/j.isatra.2016.11.013

Abstract

Dominant pole placement is a useful technique designed to deal with the problem of controlling a high order or time-delay systems with low order controller such as the PID controller. This paper tries to solve this problem by using D-decomposition method. Straightforward analytic procedure makes this method extremely powerful and easy to apply. This technique is applicable to a wide range of transfer functions: with or without time-delay, rational and non-rational ones, and those describing distributed parameter systems. In order to control as many different processes as possible, a fractional order PID controller is introduced, as a generalization of classical PID controller. As a consequence, it provides additional parameters for better adjusting system performances. The design method presented in this paper tunes the parameters of PID and fractional PID controller in order to obtain good load disturbance response with a constraint on the maximum sensitivity and sensitivity to noise measurement. Good set point response is also one of the design goals of this technique. Numerous examples taken from the process industry are given, and D-decomposition approach is compared with other PID optimization methods to show its effectiveness.

Keywords: D-decomposition; Dominant pole placement; PID control; fractional order PID controller.