JOURNAL OF SHANDONG UNIVERSITY (ENGINEERING SCIENCE) ›› 2014, Vol. 44 ›› Issue (6): 77-82.doi: 10.6040/j.issn.1672-3961.0.2014.172

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Design of a fractional order IMC-IDμ controller for high order systems

WANG Huifang, ZHAO Zhicheng, ZHANG Jinggang   

  1. School of Electronic Information Engineering, Taiyuan University of Science and Technology, Taiyuan 030024, Shanxi, China
  • Received:2014-06-25 Revised:2014-11-12 Published:2014-06-25

Abstract: A method of model reduction and fractional order internal model IDμ controller design was presented for higher order systems. At first, based on the performance index of integral square error (ISE), particle swarm optimization (PSO) was used to reduce the higher order system model and a fractional order model with time-delay was obtained. Then, according to the principle of internal model control (IMC), a fractional order IMC-IDμ controller was derived by approximating the time-delay term of the model with the first-order Taylor series. The controller contained only one adjustable parameter. Finally, the robust tuning of the controller parameter was realized using the maximum sensitivity index of the system. The simulation results showed that the proposed method could make the system having a better dynamic response characteristic, disturbance suppression performance and robustness against the parameters perturbation of the system.

Key words: internal model control, particle swarm optimization, higher order systems, fractional order control, maximum sensitivity

CLC Number: 

  • TP273
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