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The performance indices of ISE, ITSE, ITAE, and IAE were optimized using the CI algorithm. Any
one of these variations can be used for reaching the optimum solution. Response of CI optimized
converter with different cost functions. In ( Karimi et al., 2009 ) the authors applied an optimal
FOPID tuned by Particle Swarm Optimzation (PSO) algorithm to control the Automatic Voltage
Regulator (AVR) system. This chapter is distributed under the terms of the Creative Commons
Attribution-NonCommercial-ShareAlike-3.0 License, which permits use, distribution and
reproduction for non-commercial purposes, provided the original is properly cited and derivative
works building on this content are distributed under the same license. The performance of the
fractional PID controller is compared with the performance of conventional PID controller, which is
widely used to control the chemical processes. TABLE 1 TIME RESPONSE CHARACTERISTICS
OF THE SYSTEM REPRESENTED IN FIG. 5 Parameters Value Overshoot 5% Rise-time. The
response of the circuit to a set-point change from 15 V to 12 V at 0.03 s is shown in Figure 10 b.
However, the proposed FOPID controller took a longer time to balance the generated power and
load demand when compared to other designed method for power system without physical
constraints. Robust PID Controller Design for Non-Minimum Phase Systems using Magnitude Op.
Journal of Low Power Electronics and Applications (JLPEA). Comparison of different optimization
methods for the cost function ITAE. The bode diagram of the FOPID defined in ( Eq. 23) is also
depicted in Fig. 6 and finally, the bode plot of G ( s ) G c ( s ) is depicted in Fig. 7. Figure 6. Bode
plot of FOPID controller designed for pH neutralization process Figure 7. The rest of this chapter is
organized as follows: In section 2, basic definitions of fractional calculus and its frequency domain
approximation is presented. The CI algorithm gave faster convergence to the optimal solution in
comparison to all the other methods. However, this also implies that the tuning of the controller can
be much more complex. Paper should be a substantial original Article that involves several techniques
or approaches, provides an outlook for. Function evaluations 84 242 88 100 400 Avg. No. of
iterations 21 60 22 25 100. Obviously, the higher value of M s yields the less robustness against
uncertainties. The FOPID controller responds well and shows robustness to a range of gain
variations. A high-power switching device like MOSFET or IGBT is switched on or off at a high
frequency to facilitate this conversion. It is seen that while the rise time and settling time remains
almost the same, the overshoot is more for the cost functions ITAE and IAE. Three physical
constraints were then added to the proposed method, and results obtained were compared with other
designed method available in literatures for power system without physical constraints. It was
observed that the reduction factor of the CI algorithm had an effect on the time domain response, as
well as the cost function value. Pe?rez, Carlos M. Travieso, Jesu?s B. Alonso and Jose? L. Va?squez
10,120 downloads Written By Mohammad Reza Faieghi and Abbas Nemati Submitted: 20 April
2011 Published: 09 September 2011 DOWNLOAD FOR FREE Share Cite Cite this chapter There
are two ways to cite this chapter: 1. Kc adds another parameter to improve the steady-state
performance of the controlled system; i.e., the transfer function of. In order to be human-readable,
please install an RSS reader. The method which is considered in this chapter is based on the
approximation of the fractional-order system behavior in the frequency domain. The value of filter
inductance L should be chosen to be greater than. A typical control and instrumentation diagram of
the bioreactor used for analysis, with biomass concentration as the measured output, is shown in Fig.
3. Fig. 3 Simplified PI diagram for a Bio-reactor -.
It is observed that FOPID controller shows a more peak overshoot than the PID controller but it's
settling time for the set-point change is very less as compared to PID controller. The CI algorithm
gave faster convergence to the optimal solution in comparison to all the other methods. In the last
two decades, fractional calculus has been rediscovered by scientists and engineers and applied in an
increasing number of fields, namely in the area of control theory. Terrasa, Spain, 53 58 23. Xue D.
Zhao C. Chen Y. Q. 2006 Fractional Order PID Control of A DC-Motor with Elastic Shaft: A Case
Study, Proceedings of the 2006 American Control Conference, Minneapolis, Minnesota, USA, June,
2006 24. Yeroglu, C., Ozyetkin, M. M., Tan, N. Tabatabaei M. Haeri M. 2010 Loop Shaping Design
of Fractional PD and PID Controllers, Proceedings of Fractional Differentiation and its Applications,
Badajoz, Spain, October 2010 20. Vale?rio D. Costa J. S. 2004 NINTEGER: A Non-Integer Control
Toolbox for MATLAB, Proceedings of Fractional Differentiation and its Applications, Bordeaux,
2004 21. Vale?rio D. Costa J. S. 2006 Tuning of fractional PID controllers with Ziegler-Nichols-type
rules, Signal Processing, 86 2771 2784. The tuning parameters k1 and k2 in (11) allow one to achieve
a flat frequency response which cannot be obtained by using. Response of CI optimized PID
controller to variation of gain. The CI algorithm tries to minimize an objective function. Any one of
these variations can be used for reaching the optimum solution. Fractional order PID controller tuned
by bat algorithm for robot trajectory c. He also demonstrated the better response of this type of
controller, in comparison with the classical PID controller, when used for the control of fractional
order systems. A frequency domain approach by using FOPID controllers is also studied in ( Vinagre
et al., 2000 ). In ( Monje et al., 2004 ), an optimization method is presented where the parameters of
the FOPID are tuned such that predefined design specifications are satisfied. A comparison of the
time domain specifications and the cost function of the CI method with the other optimization
methods is shown in Table 4, Table 5, Table 6 and Table 7. Journal of Functional Morphology and
Kinesiology (JFMK). CI-optimized system responses for different cost functions. The performance of
the system with CI algorithm was compared with the GA, PSO, ABC, and SA optimization
algorithms for different cost functions. One of the main challenges in the use of the FOPID
controllers is the tuning of its parameters. This chapter is distributed under the terms of the Creative
Commons Attribution-NonCommercial-ShareAlike-3.0 License, which permits use, distribution and
reproduction for non-commercial purposes, provided the original is properly cited and derivative
works building on this content are distributed under the same license. Kc adds another parameter to
improve the steady-state performance of the controlled system; i.e., the transfer function of. Feature
papers represent the most advanced research with significant potential for high impact in the field. A
Feature. This is true since the fractional order controller in theory has an infinite memory and some
sort of approximation using finite memory must be done. An elegant way of enhancing the
performance of PID controllers is to use fractional-order controllers where I and D-actions have, in
general, non-integer orders. Design and Implementation of Sliding Mode Controller using
Coefficient Diagra. Fig. 3 shows the Bode diagram of the controlled system. Bode plot of pH
neutralization process As shown in the Fig.4 the closed loop step response has no steady state error
and a fulfilling rise time in the comparison of the open loop response. After discussion on fractional
calculus and its approximation methods, the Ninteger toolbox is introduced briefly. In order to
control the process via FOPID, let us approximate the process by a FOPDT model. The main ideas
of the design are described by numerical examples. The objective of this paper is to study the effect
of the CI algorithm on the optimal tuning of a fractional order PID controller for a buck converter.
In actual practice, there will be parametric and load variations, and non-linearities. The FOPID
controller gave a much smoother transition in both cases compared to the PID controller.
Controllers using the Integral Time Absolute Error Criterion. The CI is an artificial intelligence-based
socio-inspired meta-heuristic algorithm, which has been inspired by the behavior of a group of
candidates called a cohort. Journal of Low Power Electronics and Applications (JLPEA). Some of
the common parameters chosen as cost functions are the control performance indices like integral
square error (ISE), integral absolute value error (IAE), integral of the absolute error weighted over
time (ITAE), integral of the time squared error (ITSE), or time domain specifications like overshoot,
rise time, etc. A performance index is based on the error signal and gives a quantitative measure used
for evaluating the performance of a closed loop control system. These tuning rules are applicable
only for systems that have S-shaped step response. Since most of the fractional-order differential
equations do not have exact analytic solutions, so approximation and numerical techniques must be
used. The FOPID controller gave a much smoother transition in both cases compared to the PID
controller. Fractional order PID controller tuned by bat algorithm for robot trajectory c. Step
response of high order process controlled by FOPID 6.4. Example: Non-minimum phase process
control When the transfer function of a process is not a FOPDT model, an approximated FOPDT
model can be developed; this fact was shown in the previous example. In the recent years, there has
been a significant growth in the field of fractional control, which is one of the major applications of
fractional calculus. The system settles in approximately 0.25 ms for each case, with a maximum
overshoot of 11.9% for a gain increase upto 45%. Infineon Technologies North America. 2013.
Available online: (accessed on 4 August 2021). The fractional order integrator and differentiator of
the FOPID controller. Expand 2 1 Excerpt Save optimization of FOPID Controller Based on
MPFGA Qi Sun Zhidong Qi Jin Pei Handong Liu Engineering, Computer Science 2019 Chinese
Control Conference (CCC) 2019 TLDR A multiple population fuzzy genetic algorithm (MPFGA) to
optimize the operating parameters of FOPID controller has short adjustment time, small static error,
strong anti-interference ability and steady-state performance. The number of applications where
fractional calculus has been used rapidly grows. The concept of FOPID controllers was proposed by
Podlubny in 1997 ( Podlubny et al., 1997; Podlubny, 1999a ). Future research will be performed on
extension of CI algorithm for multi-objective optimization and for the control of converters such as
the boost and buck-boost converters. The Integral Square Error to be minimized is the summation of
the errors in frequency deviation, tie-line power deviation and the area control error. Editors select a
small number of articles recently published in the journal that they believe will be particularly. Robust
design of a 2 dof gmv controller a direct self-tuning and fuzzy schedu. All articles published by
MDPI are made immediately available worldwide under an open access license. No special. As PhD
students, we found it difficult to access the research we needed, so we decided to create a new Open
Access publisher that levels the playing field for scientists across the world. Bioreactors provide a
controlled environment that is necessary to bring the better growth of microbes, and also maintain
constant temperature according to In the following a bio-reactor system is used to evaluate the
control performance of proposed Fractional PID controller. The much lesser function count and
computation time required is a clear advantage of the CI compared to the other methods and also
reflects the lesser control effort required. Function evaluations 84 204 88 100 1000 Avg. No. of
iterations 21 51 21 25 200. Institutional Review Board Statement Not applicable. Response of CI
optimized converter with different cost functions. Conclusion References DOWNLOAD FOR
FREE Share Cite Cite this chapter There are two ways to cite this chapter: 1. Overshoot % 20 21 25
18 25 Rise Time (ms) 0.036 0.038 0.039 0.036 0.037 Settling time (ms) 0.28 0.42 0.39 0.38 0.29 Cost
function value 0.0116 0.00548 0.0017 0.0024 0.005 Avg. computation Time (s) 542 1500 1200 1500
1320 Avg.
SR Globals Profile - Building Vision, Exceeding Expectations. Fractional calculus is a generalization
of the classical integer-order calculus that includes integro-differential operators of. The performance
of the system with CI algorithm was compared with the GA, PSO, ABC, and SA optimization
algorithms for different cost functions. Using (12), the phase contribution of (25) at ?cg is. Fractional
order PID controller tuned by bat algorithm for robot trajectory c. Conference on Recent Trends in
Information Systems, 2008. The main reason for using the integer-order models was the absence of
solution methods for fractional differential equations. The CI algorithm gave faster convergence to
the optimal solution in comparison to all the other methods. The simulated annealing method fails to
reach the steady state value even after 200 iterations, and hence cannot be suitable for this index.
Fractional-order controllers have demonstrated superior performance in power electronic systems in
recent years. A typical control and instrumentation diagram of the bioreactor used for analysis, with
biomass concentration as the measured output, is shown in Fig. 3. Fig. 3 Simplified PI diagram for a
Bio-reactor -. The response of the FOPID controlled buck converter system was optimized using
different algorithms, and is shown in Figure 14 and Figure 15. The CI algorithm tries to minimize an
objective function. One of the main challenges in the use of the FOPID controllers is the tuning of
its parameters. After discussion on fractional calculus and its approximation methods, the Ninteger
toolbox is introduced briefly. Then the approximated equations in frequency domain are transformed
back into the time domain. Please note that many of the page functionalities won't work as expected
without javascript enabled. We use cookies on our website to ensure you get the best experience.
Design and Implementation of Sliding Mode Controller using Coefficient Diagra. Even though the
computation time has increased for the CI, it continues to take lesser time for convergence compared
to all the other methods. 4.5. Convergence Plots of the CI Algorithm The CI algorithm has a self-
supervisory learning behavior for the candidates. Edited by Tadeusz Michalowski Applications of
MATLAB in Science and Engineering. Obviously, the higher value of M s yields the less robustness
against uncertainties. The rise time and settling times are comparable in all the methods, but the
overshoot and the computational time is least for the CI method for the cost function. PID
technology has survived years in the industry and is continuously undergoing updation. Expand
1,552 Save Original Contribution: Multilayer feedforward networks with a nonpolynomial activation
function can approximate any function M. Leshno V. Lin A. Pinkus S. Schocken Computer Science,
Mathematics 1993 1,891 PDF Save Discretized fractional calculus C. Overshoot % 5.6 14.6 16.2 18
21 Rise Time (ms) 0.037 0.038 0.036 0.035 0.035 Settling time (ms) 0.265 0.19 0.167 0.24 0.32 Cost
function 0.006 0.0057 0.0063 0.0067 0.0064 Avg. computation Time (s) 542 1600 720 1100 1800
Avg. Subscribe to receive issue release notifications and newsletters from MDPI journals. Finally
Section 5 concludes the work. 2. System Description 2.1. Buck Converter Switched-mode power
converters are highly efficient systems prominently used in a wide range of applications like mobile
and computer power supplies, electric cars, television, etc. The existing design and tuning algorithms
of FOPID controllers were demonstrated via numerical simulations using. The much lesser function
count and computation time required is a clear advantage of the CI compared to the other methods
and also reflects the lesser control effort required.
In order to address this problem, different methods for the design of a FOPID controller have been
proposed in the literature. The cost function values for ITSE and IAE were found to be lesser for the
PSO and ABC methods, but at the cost of a much higher computational time. SR Globals Profile -
Building Vision, Exceeding Expectations. The main ideas of the design are described by numerical
examples. The performance of fractional-order systems can be manipulated by implementing integer
or fractional-order control. Optimal Fractional PID Controller for Buck Converter Using Cohort
Intelligent Algorithm. At the step load change at 0.1 s, the FOPID controller settled in 0.2 ms,
wheareas the PID controller took 0.76 ms to settle. The inductor current step variations are more for
the PID controller and takes much more time to settle in both the cases. 4.3. Response of CI-
Optimized System to Parametric Variations The buck converter with CI optimized FOPID controller
was subjected to parametric variations. PID control mechanism, the ubiquitous avail ability of reliable
and cost effective commercial PID modules, and pervasive operator acceptance are among the
reasons for the success of PID controllers. Publishing on IntechOpen allows authors to earn citations
and find new collaborators, meaning more people see your work not only from your own field of
study, but from other related fields too. The main reason is its relatively simple structure, which can
be easily understood and implemented in practice. Overshoot % 5.6 14.6 16.2 18 21 Rise Time (ms)
0.037 0.038 0.036 0.035 0.035 Settling time (ms) 0.265 0.19 0.167 0.24 0.32 Cost function 0.006
0.0057 0.0063 0.0067 0.0064 Avg. computation Time (s) 542 1600 720 1100 1800 Avg. The main
reason for using the integer-order models was the absence of solution methods for fractional
differential equations. A fractional order PID controller is represented as PI ? D. Optimal Fractional
PID Controller for Buck Converter Using Cohort Intelligent Algorithm. The bode diagram of the
FOPID defined in ( Eq. 23) is also depicted in Fig. 6 and finally, the bode plot of G ( s ) G c ( s ) is
depicted in Fig. 7. Figure 6. Bode plot of FOPID controller designed for pH neutralization process
Figure 7. The method which is considered in this chapter is based on the approximation of the
fractional-order system behavior in the frequency domain. Journal of Experimental and Theoretical
Analyses (JETA). The existence and uniqueness of solutions of linear and nonlinear fractional-order
integro-. Optimal Fractional PID Controller for Buck Converter Using Cohort Intelligent Algorithm.
Appl. Syst. Innov. 2021, 4, 50. The SA optimization method can be used for multi-objective
optimization and works like the annealing process used in metallurgy for heating and cooling of
materials. Fractional-order systems are described by an n-term non-homogeneous fractional-order
differential equation (FDE) of. Obviously, the higher value of M s yields the less robustness against
uncertainties. However, in the presence of large parame- ter variations or major external disturbances,
the PID con- trollers usually face trade-off between: Fast response with significant overshoot.
Function evaluations 84 204 88 100 1000 Avg. No. of iterations 21 51 21 25 200. Response of CI
optimized converter with different cost functions. A fractional-order PID controller (FOPID), on the
other hand, was introduced. Materials such as carbon, nitrogen, oxygen, which are called substrate,
and other nutrients are brought with the cell into the culture vessel (bioreactor) and converted within
the cell via hundreds of reactions to the various constituents of the cell as well as to biochemical
product. Expand 330 Save Frequency-band complex noninteger differentiator: characterization and
synthesis A. He also demonstrated the better response of this type of controller, in comparison with
the classical PID controller, when used for the control of fractional order systems. A frequency
domain approach by using FOPID controllers is also studied in ( Vinagre et al., 2000 ). In ( Monje et
al., 2004 ), an optimization method is presented where the parameters of the FOPID are tuned such
that predefined design specifications are satisfied. Comparison of different optimization methods for
the cost function ISE.
The CI algorithm tries to minimize an objective function. Fractional order PID controller tuned by bat
algorithm for robot trajectory c. Design and Implementation of Sliding Mode Controller using
Coefficient Diagra. In the next sections, different design methods of FOPID controllers are
discussed. Response of CI optimized FOPID to variation of gain. Publishing on IntechOpen allows
authors to earn citations and find new collaborators, meaning more people see your work not only
from your own field of study, but from other related fields too. The analytic method, that lies behind
the proposed tuning rules, is based on a specified desirable behavior of the controlled system. The
Buck or step-down converter is a switched mode regulator used to convert a DC voltage of higher
magnitude to a lower magnitude DC voltage. It can be easily seen that the FOPID is a generalized
version of the conventional PID. The error and control signals of the CI optimized plant with FOPID
controller for a reduction factor of 0.45 is shown in Figure 18. 5. Conclusions This article discusses a
novel method for the design of a fractional order PID controller for a buck converter using the
cohort intelligence meta-heuristic algorithm. The fractional order integrator and differentiator of the
FOPID controller. The SA optimization method can be used for multi-objective optimization and
works like the annealing process used in metallurgy for heating and cooling of materials. The method
which is considered in this chapter is based on the approximation of the fractional-order system
behavior in the frequency domain. European Journal of Investigation in Health, Psychology and
Education (EJIHPE). Edited by Tadeusz Michalowski Applications of MATLAB in Science and
Engineering. PID control mechanism, the ubiquitous avail ability of reliable and cost effective
commercial PID modules, and pervasive operator acceptance are among the reasons for the success
of PID controllers. The main ideas of the design are described by numerical examples. SR Globals
Profile - Building Vision, Exceeding Expectations. The PID controlled circuit had much higher
overshoot than the FOPID based circuit. The main reason for using the integer-order models was the
absence of solution methods for fractional differential equations. An anti-windup scheme was
employed to limit the effects of these physical constraints on the power system. Function evaluations
84 204 88 100 1000 Avg. No. of iterations 21 51 21 25 200. The simulated annealing method fails to
reach the steady state value even after 200 iterations, and hence cannot be suitable for this index.
Equivalently, for a specific integrator time constant, the phase angle, ?c, can also be found from.
These tuning rules are applicable only for systems that have S-shaped step response. The CI is an
artificial intelligence-based socio-inspired meta-heuristic algorithm, which has been inspired by the
behavior of a group of candidates called a cohort. The diagram is provided via “Control System
Toolbox” of MATLAB. Response of CI optimized FOPID to variation of gain. The proposed system
showed a fast start-up response and smooth dynamic response. Optimal Fractional PID Controller
for Buck Converter Using Cohort Intelligent Algorithm. Appl. Syst. Innov. 2021, 4, 50.