Fractional Order PID Controller Design Using Reference Model on Inverted Pendulum System

Authors : Mehmet Serhat CAN, Emrah SÜRÜCÜ

Pages : 804-819

Doi:10.29137/umagd.1298311

View : 70 | Download : 94

Publication Date : 2023-07-14

Article Type : Research Paper

Abstract :The proportional Integral Derivative insert ignore into journalissuearticles values(PID); controller has three basic parameters: Proportional gain insert ignore into journalissuearticles values(Kp);, Integral gain insert ignore into journalissuearticles values(Ki); and Derivative gain insert ignore into journalissuearticles values(Kd);. In a conventional PID controller, integral and derivative operators are integer order. The researchers proposed a fractional order PID insert ignore into journalissuearticles values(PIλDµ); controller by using the fractional integral and derivative operators instead of the integer order integral and derivative operators in the traditional PID controller because it improves the control performance. The PIλDµ controller has an additional fractional integrator degree insert ignore into journalissuearticles values(λ); and fractional derivative degree insert ignore into journalissuearticles values(µ);. In this study, the focus is on the design of a fractional-order PID controller according to a reference model in the time domain. Bode\`s ideal transfer function was used as the reference model. It is aimed to obtain PIλDµ parameters by minimizing the error between the time domain response of Bode\`s ideal transfer function model and the output of the system to be controlled by using the optimization method. Genetic Algorithm insert ignore into journalissuearticles values(GA); optimization was used as the optimization method. The study was carried out as a simulation study on an inverted pendulum system with a single-input multiple-output insert ignore into journalissuearticles values(SIMO); structure.
Keywords : Kesir dereceli PID denetleyici, model referans tasarım, ters sarkaç, tek girişli çoklu çıkış sistem