Fractional-order PI plus D controller for second-order integrating plants: Stabilization and tuning method. (October 2022)

• Record Type: Journal Article
• Authors: Shankaran, Vivek Pawan; Azid, Sheikh Izzal; Mehta, Utkal
• Is Part Of: ISA transactions. Volume 129(2022)Part A
• Page Start: 592
• Page End: 604
• Publication Date: 2022-10
• Subjects: Integrating plants -- Stability region -- Fractional PIλ-D tuning -- Optimization; Engineering instruments -- Periodicals; Engineering instruments; Periodicals; Electronic journals; 629.805
• DOI: 10.1016/j.isatra.2021.12.012
• Languages: English
• ISSNs: 0019-0578

Abstract

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. Highlights: Effective method to increase stability region for second order integrating plants. PI λ -D control for improving performances while having lesser tuning parameters. The proposed control design approach validates the robustness of the quadrotor.