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Design of FOPI Controller for Time Delay Systems and Its Experimental Validation

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Abstract

In this paper, we report on the identification and modeling of unknown and higher order processes into first order plus dead time (FOPDT) plants based on the limit cycle information obtained from a single relay feedback test with an online fractional order proportional integral (FOPI) controller. The parameters of the test processes are accurately determined by the state space method while the FOPI controller settings are retuned to achieve enhanced performance based on the identified model parameters based on the balanced-tuning method. A new performance index, integral time fractional order absolute error (ITFIAE) is introduced in this paper for balanced tuning of fractional order (FO) controllers. It requires minimum design specifications without apriori knowledge of gain and phase crossover frequencies and is done non-iteratively without disrupting the closed loop. Four test processes and experimental analysis on a coupled tank system (CTS) validate the theory proposed.

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Authors and Affiliations

  1. Department of Electronics and Electrical Engineering, Indian Institute of Technology Guwahati, Guwahati, 781039, India

    Gargi Baruah, Somanath Majhi & Chitralekha Mahanta

Authors
  1. Gargi Baruah
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  2. Somanath Majhi
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  3. Chitralekha Mahanta
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Corresponding author

Correspondence to Gargi Baruah.

Additional information

Recommended by Associate Editor Min Wu

Gargi Baruah received the B. Eng. degree in electronics and communication engineering from Sri Venkateshwara College of Engineering and Technology, India in 2009, and M. Eng. degree in electronics design and technology from Tezpur University, India in 2012. Currently, she is a Ph. D. degree candidate at Indian Institute of Technology, India with focus on fractional order control system.

Her research interests include relay based process identification and controller design.

Somanath Majhi received the Ph. D. degree in control systems engineering from University of Sussex, UK in 1998, and has been with Indian Institute of Technology (IIT) Guwahati, India since 1999. He has published several books/book chapters, conference proceedings, journal publications and has a patent on his name.

His research interests include relay based identification and auto-tuning, control systems, and control theory applications.

Chitralekha Mahanta received the Ph. D. degree in intelligent control from IIT Delhi, India in 2000. She joined as an assistant professor in Department of Electronics and Electrical Engineering (EEE), IIT Delhi, India in 2000. Since then she has been involved in active research in the area of control theory and its applications. She has offered a variety of courses in under-graduate and post graduate studies in the field of control systems at IIT Guwahati, India. She has been a full time professor in Department of EEE since April 2012, starting her research at IIT Guwahati, India in the field of intelligent control. Currently, she is involved in the areas of robust and adaptive control with applications in robotics and flight control. Her work has been published in well known peer reviewed international journals and conference proceedings. She has shouldered various administrative responsibilities in the institute level. She was the organizing chairperson of GATE 2010 and associate dean of Research and Development, IIT Guwahati, India from 2012 to 2014. She is a senior member of IEEE and a Fellow of the Institution of Electronics and Telecommunication Engineers (IETE).

Her research interests include control of nonlinear uncertain systems, sliding mode control of underactuated systems specific to humanoid robot arm, actuator failure tolerant control design for nonlinear systems with application in aircraft control.

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Baruah, G., Majhi, S. & Mahanta, C. Design of FOPI Controller for Time Delay Systems and Its Experimental Validation. Int. J. Autom. Comput. 16, 310–328 (2019). https://doi.org/10.1007/s11633-018-1165-4

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