Fractional-order PI plus D controller for second-order integrating plants: Stabilization and tuning method

Vivek Pawan Shankaran; Sheikh Izzal Azid; Utkal Mehta

doi:10.1016/j.isatra.2021.12.012

Fractional-order PI plus D controller for second-order integrating plants: Stabilization and tuning method

ISA Trans. 2022 Oct;129(Pt A):592-604. doi: 10.1016/j.isatra.2021.12.012. Epub 2021 Dec 20.

Authors

Vivek Pawan Shankaran¹, Sheikh Izzal Azid², Utkal Mehta²

Affiliations

¹ School of Information Technology, Engineering, Mathematics and Physics, The University of the South Pacific, Suva, Fiji. Electronic address: s11132043@student.usp.ac.fj.
² School of Information Technology, Engineering, Mathematics and Physics, The University of the South Pacific, Suva, Fiji.

PMID: 34980481
DOI: 10.1016/j.isatra.2021.12.012

Abstract

In this paper, a fractional-order PI plus D (PI^λ-D) structure is proposed for second-order integrating plants. A feedback controller is designed to locate the integrating pole(s) to improve the stability region of the controlling system. Then, the explicit formulae are derived to construct the complex root boundary (CRB) for a given plant model with fractional integrator. By stabilizing approach, it is feasible to put the constraint to calculate the optimal controller parameters. Its effectiveness is presented through numerical examples and a hardware experiment on physical integrating system, namely the altitude control of a quadrotor. The results reveal the improved performances with robustness by the new approach.

Keywords: Fractional PI-D tuning; Integrating plants; Optimization; Stability region.