A conformal mapping based fractional order approach for sub-optimal tuning of PID controllers with guaranteed dominant pole placement
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Abstract: A novel conformal mapping based Fractional Order (FO) methodology is developed in this paper for tuning existing classical (Integer Order) Proportional Integral Derivative (PID) controllers especially for sluggish and oscillatory second order systems. The conventional pole placement tuning via Linear Quadratic Regulator (LQR) method is extended for open loop oscillatory systems as well. The locations of the open loop zeros of a fractional order PID (FOPID or PI{lambda}D{mu}) controller have been approximated in this paper vis-`a-vis a LQR tuned conventional integer order PID controller, to achieve equivalent integer order PID control system. This approach eases the implementation of analog/digital realization of a FOPID controller with its integer order counterpart along with the advantages of fractional order controller preserved. It is shown here in the paper that decrease in the integro-differential operators of the FOPID/PI{lambda}D{mu} controller pushes the open loop zeros of the equivalent PID controller towards greater damping regions which gives a trajectory of the controller zeros and dominant closed loop poles. This trajectory is termed as "M-curve". This phenomena is used to design a two-stage tuning algorithm which reduces the existing PID controller's effort in a significant manner compared to that with a single stage LQR based pole placement method at a desired closed loop damping and frequency.
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- scientific article; zbMATH DE number 2208489
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Cited in
(5)- Stabilization of single-input LTI systems by proportional-derivative feedback
- A universal map of three-dominant-pole assignment for PID controller tuning
- An overview of FOPID controller design in v-domain: design methodologies and robust controller performance
- Fractional-order fast terminal sliding mode control for a class of dynamical systems
- Time delay handling in dominant pole placement with PID controllers to obtain stability regions using random sampling
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