A conformal mapping based fractional order approach for sub-optimal tuning of PID controllers with guaranteed dominant pole placement

DOI10.1016/J.CNSNS.2012.01.007zbMATH Open1248.93075arXiv1202.5662OpenAlexW2065366765WikidataQ57933021 ScholiaQ57933021MaRDI QIDQ450342FDOQ450342

Shantanu Das, Amitava Gupta, Saptarshi Das, Suman Saha

Publication date: 13 September 2012

Published in: Communications in Nonlinear Science and Numerical Simulation (Search for Journal in Brave)

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.

Full work available at URL: https://arxiv.org/abs/1202.5662

zbMATH Keywords

root locusconformal mappinglinear quadratic regulator (LQR)dominant pole placementfractional order PID controllerM-curve

Mathematics Subject Classification ID

Design techniques (robust design, computer-aided design, etc.) (93B51) Pole and zero placement problems (93B55)

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Cited In (5)

• Time delay handling in dominant pole placement with PID controllers to obtain stability regions using random sampling
• An overview of FOPID controller design in v-domain: design methodologies and robust controller performance
• Stabilization of single-input LTI systems by proportional-derivative feedback
• Fractional-order fast terminal sliding mode control for a class of dynamical systems
• A universal map of three-dominant-pole assignment for PID controller tuning

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