A fractional PID (PI λ D µ ) controller is an extension of the classical PID controller, employing ﬁve tuning parameters rather than just three. General guidelines are available for the effect of classical controller parameters on the time domain speciﬁcation. However, no guidelines are available for fractional PID controllers, particularly for the order of differentiation ( µ ) and integration ( λ ). To assist with ﬁne tuning, the effect of the order of differentiation and integration parameters on the time domain speciﬁcations for various plants are investigated. The relationship with the time domain speciﬁcation serves as general guideline for manual tuning, and the effect of parameters will also assist with auto-tuning. In this paper, ﬁve plants covering integer order as well as non-integer order are simulated. The relationship between time domain speciﬁcations is plotted by varying the order of differentiation and integration between 0 and 2. Simulation results have revealed an association between the order of differentiation ( µ ) and the maximum overshoot (MP) for all plants. No other particular behavior was observed with other time domain speciﬁcations. However, some remarks on time domains speciﬁcations are made from the simulation results. Simulation results were validated using an experimental set up of the quadruple tank system.
Digital Object Identifier (DOI)
Shah, Pritesh and Agashe, Sudhir
"Experimental Analysis of Fractional PID Controller Parameters on Time Domain Speciﬁcations,"
Progress in Fractional Differentiation & Applications: Vol. 3
, Article 5.
Available at: https://dc.naturalspublishing.com/pfda/vol3/iss2/5