Title: Fractional order PID controller with online tuning based on FRIT and RLS

Authors: Ahlem Dif; Abdelbaki Djouambi; Abdelfatah Charef; Alina Voda

Addresses: Laboratory of Electrical Engineering and Automatic (LGEA), Department of Science and Applied Science, University of Oum-El-Bouaghi, 04000, Algeria ' Laboratory of Electrical Engineering and Automatic (LGEA), Department of Science and Applied Science, University of Oum-El-Bouaghi, 04000, Algeria ' Department of Electronics, University of Constantine 1, Route Ain El-bey,Constantine 25011, Algeria ' Univ. Grenoble Alpes, GIPSA-lab, F-Grenoble, France and CNRS, GIPSA-lab, F-Grenoble, France

Abstract: This paper presents a new strategy for online robust control-based fractional order PID controller (FPID). The technique suggests an online parameters tuning of the FPID using fictitious reference iterative tuning (FRIT) approach. This approach enables us to track the desired optimal FPID parameters online using experimental data without any plant model identification. After having set the optimal non-integer orders α and β, the gains of the FPID are then estimated in a recursive manner using the so-called recursive least squares (RLSs) algorithm with forgetting factor, which can cope with variation of plant characteristics adaptively. The performances of this technique are compared with other results already existing in the literature through some typical examples; the results of the proposed approach show significant performance improvement.

Keywords: fractional order PID control; fictitious reference iterative tuning; FRIT; recursive least squares; RLS; online tuning; controller design; robust control.

DOI: 10.1504/IJMIC.2017.082946

International Journal of Modelling, Identification and Control, 2017 Vol.27 No.2, pp.125 - 135

Received: 05 Oct 2015
Accepted: 11 Feb 2016
Published online: 16 Mar 2017 *

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