Tuning algorithms for fractional order internal model controllers for time delay processes |
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Authors: | Cristina I Muresan Abhishek Dutta Zehra Pinar Anca Maxim Clara M Ionescu |
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Affiliation: | 1. Department of Automation, Technical University of Cluj-Napoca, Cluj-Napoca, Romania;2. Faculteit Industri?le Ingenieurswetenschappen, KU Leuven, Campus Groep T Leuven, Leuven, Belgium;3. Departement Materiaalkunde, KU Leuven, Heverlee-Leuven, Belgium;4. Department of Mathematics, Faculty of Arts and Science, Nam?k Kemal University, Merkez-Tekirda?, Turkey;5. Department of Electrical Energy, Systems and Automation, Ghent University, Ghent, Belgium |
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Abstract: | This paper presents two tuning algorithms for fractional-order internal model control (IMC) controllers for time delay processes. The two tuning algorithms are based on two specific closed-loop control configurations: the IMC control structure and the Smith predictor structure. In the latter, the equivalency between IMC and Smith predictor control structures is used to tune a fractional-order IMC controller as the primary controller of the Smith predictor structure. Fractional-order IMC controllers are designed in both cases in order to enhance the closed-loop performance and robustness of classical integer order IMC controllers. The tuning procedures are exemplified for both single-input-single-output as well as multivariable processes, described by first-order and second-order transfer functions with time delays. Different numerical examples are provided, including a general multivariable time delay process. Integer order IMC controllers are designed in each case, as well as fractional-order IMC controllers. The simulation results show that the proposed fractional-order IMC controller ensures an increased robustness to modelling uncertainties. Experimental results are also provided, for the design of a multivariable fractional-order IMC controller in a Smith predictor structure for a quadruple-tank system. |
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Keywords: | Control design internal model control fractional calculus robustness time delays multivariable process experimental results |
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