F RACTIONAL ORDER PID CONTROLLER TUNING BASED ON IMC Mohammad Reza Rahmani
نویسندگان
چکیده
In this work, a class of fractional order controller (FOPID) is tuned based on internal model control (IMC). This tuning rule has been obtained without any approximation of time delay. Moreover to show usefulness of fractional order controller in comparison with classical integer order controllers, an industrial PID controller tuned in a similar way, is compared with FOPID and then robust stability of both controllers is investigated. Robust stability analysis has been done to find maximum delayed time uncertainty interval which results in a stable closed loop control system. For a typical system, robust stability has been done to find maximum time constant uncertainty interval of system. Two clarify the proposed control system design procedure, three examples have been given.
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