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Cristina I. Muresan - One of the best experts on this subject based on the ideXlab platform.
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tuning of fractional order proportional integral proportional derivative Controllers based on existence conditions
Proceedings of the Institution of Mechanical Engineers Part I: Journal of Systems and Control Engineering, 2019Co-Authors: Cristina I. Muresan, Clara M. Ionescu, Isabela R. Birs, Robain De KeyserAbstract:Fractional order proportional integral and proportional derivative Controllers are nowadays quite often used in research studies regarding the control of various types of processes, with several papers demonstrating their advantage over the traditional proportional integral/proportional derivative Controllers. The majority of the tuning techniques for these fractional order proportional integral/fractional order proportional derivative Controllers are based on three frequency-domain specifications, such as the open-loop gain crossover frequency, phase margin and the iso-damping property. The tuning parameters of the Controllers are determined as the solution of a system of three nonlinear equations resulting from the performance criteria. However, as with any system of nonlinear equations, it might occur that for a certain process and with some specific performance criteria, the computed parameters of the fractional order proportional integral/fractional order proportional derivative Controllers do not fall into a range of values with correct physical meaning. In this article, a study regarding this limitation, as well as the existence conditions for the fractional order proportional integral/fractional order proportional derivative parameters are presented. The method could also be extended to the more complex fractional order proportional-integral-derivative Controller. The aim of this research is directed toward demonstrating that when designing fractional order proportional integral/fractional order proportional derivative Controllers, the choice of the performance specifications should be done based on some specific design constraints. The article shows that given a specific process and open-loop modulus and phase specifications, the gain crossover frequency (or in general, a certain test frequency used in the design), specified as a performance specification, must be selected such that the process phase fulfills an important condition (design constraint). Once this is met, the proposed approach ensures that the tuning parameters of the fractional order Controller will have a physical meaning. Illustrative examples are included to validate the results.
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Tuning of fractional order proportional integral/proportional derivative Controllers based on existence conditions:
Proceedings of the Institution of Mechanical Engineers Part I: Journal of Systems and Control Engineering, 2018Co-Authors: Cristina I. Muresan, Clara M. Ionescu, Isabela R. Birs, Robain De KeyserAbstract:Fractional order proportional integral and proportional derivative Controllers are nowadays quite often used in research studies regarding the control of various types of processes, with several papers demonstrating their advantage over the traditional proportional integral/proportional derivative Controllers. The majority of the tuning techniques for these fractional order proportional integral/fractional order proportional derivative Controllers are based on three frequency-domain specifications, such as the open-loop gain crossover frequency, phase margin and the iso-damping property. The tuning parameters of the Controllers are determined as the solution of a system of three nonlinear equations resulting from the performance criteria. However, as with any system of nonlinear equations, it might occur that for a certain process and with some specific performance criteria, the computed parameters of the fractional order proportional integral/fractional order proportional derivative Controllers do not fall into a range of values with correct physical meaning. In this article, a study regarding this limitation, as well as the existence conditions for the fractional order proportional integral/fractional order proportional derivative parameters are presented. The method could also be extended to the more complex fractional order proportional-integral-derivative Controller. The aim of this research is directed toward demonstrating that when designing fractional order proportional integral/fractional order proportional derivative Controllers, the choice of the performance specifications should be done based on some specific design constraints. The article shows that given a specific process and open-loop modulus and phase specifications, the gain crossover frequency (or in general, a certain test frequency used in the design), specified as a performance specification, must be selected such that the process phase fulfills an important condition (design constraint). Once this is met, the proposed approach ensures that the tuning parameters of the fractional order Controller will have a physical meaning. Illustrative examples are included to validate the results.
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design and analysis of a multivariable fractional order Controller for a non minimum phase system
Journal of Vibration and Control, 2016Co-Authors: Cristina I. Muresan, Robain De Keyser, Eva H Dulf, Cosmin Copot, Claramihaela IonescuAbstract:Two control strategies for multivariable processes are proposed that are based on a decentralised and a steady state decoupling approach. The designed Controllers are fractional order PIs. The efficiency and robustness of the proposed strategies is tested and validated using a non-minimum phase process. Previous research for the same non-minimum phase process has proven that simple decentralised or decoupling techniques do not yield satisfactorily results and a multivariable IMC Controller has been proposed as an alternative solution. The simulation results presented in this paper, as well as the experimental results, show that the proposed fractional order multivariable control strategies ensure an improved closed loop performance and disturbance rejection, as well as increased robustness to modelling uncertainties, as compared to traditional multivariable IMC Controllers.
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Vector-based tuning and experimental validation of Fractional-Order PI/PD Controllers
Nonlinear Dynamics, 2016Co-Authors: Cristina I. Muresan, Eva H Dulf, Roxana BothAbstract:Although a considerable amount of research has been carried out in the field of Fractional-Order Controllers, a simplified tuning routine has yet to be established. Most of the tuning techniques for Fractional-Order Controllers deal with complex computations and optimization routines. This paper proposes a simple yet efficient methodology based on a vector representation of the Fractional-Order Controllers. This simplifies considerably the computations and derivation of the Fractional-Order Controller parameters. The tuning procedure is exemplified first for a Fractional-Order PI Controller designed for a simple first-order process, as well as for a Fractional-Order PD Controller for a servoing system. In this case, the experimental results are also included, showing that this novel tuning approach is a viable replacement for the more complex tuning procedures currently employed in the design of different Fractional-Order Controllers.
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theoretical analysis and experimental validation of a simplified fractional order Controller for a magnetic levitation system
IEEE Transactions on Control Systems and Technology, 2016Co-Authors: Silviu Folea, Robin De Keyser, Cristina I. Muresan, Clara M. IonescuAbstract:Fractional order (FO) Controllers are among the emerging solutions for increasing closed-loop performance and robustness. However, they have been applied mostly to stable processes. When applied to unstable systems, the tuning technique uses the well-known frequency-domain procedures or complex genetic algorithms. This brief proposes a special type of an FO Controller, as well as a novel tuning procedure, which is simple and does not involve any optimization routines. The Controller parameters may be determined directly using overshoot requirements and the study of the stability of FO systems. The tuning procedure is given for the general case of a class of unstable systems with pole multiplicity. The advantage of the proposed FO Controller consists in the simplicity of the tuning approach. The case study considered in this brief consists in a magnetic levitation system. The experimental results provided show that the designed Controller can indeed stabilize the magnetic levitation system, as well as provide robustness to modeling uncertainties and supplementary loading conditions. For comparison purposes, a simple PID Controller is also designed to point out the advantages of using the proposed FO Controller.
Yangquan Chen - One of the best experts on this subject based on the ideXlab platform.
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a fractional order Controller design based on bode s ideal transfer function and bode s ideal cut off ideas
IFAC-PapersOnLine, 2020Co-Authors: Weijia Zheng, Ying Luo, Yangquan ChenAbstract:Abstract In order to improve the anti-load disturbance performance of a class of motion control systems, an improved fractional order Controller design based on the Bode’s ideal transfer function (BITF) is proposed in this paper. By adding a proportional-integral (PI) Controller and a Bode’s ideal cut-off (BICO) filter into the existing BITF based Controller, the frequency characteristics of the control system in the low and high frequency ranges are improved without affecting the characteristics in the middle frequency range. Therefore, the steady-state accuracy and anti-disturbance performance of the system can be improved. A tuning method for the improved BITF based Controller is proposed, using which the Controller parameters can be obtained through simple calculation. The step response and disturbance rejection performance of the improved BITF based control system is illustrated by motion control simulation. Besides, the advantage of the proposed method is verified by the comparisons with some existing methods.
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fractional order flight control of quadrotor uas a simscape benchmark environment and a case study
2018 IEEE CSAA Guidance Navigation and Control Conference (CGNCC), 2018Co-Authors: Bo Shang, Yunzhou Zhang, Yangquan ChenAbstract:This paper presents an extension of a quadrotor model in the Simscape simulator. The simulated quadrotor has been equipped with a fractional order proportional derivative altitude Controller. Ultimately, the output of this work presents a benchmarking system for doing fractional order Controller research that allows different techniques and algorithms to be compared using the same virtual conditions. All the Simulink project files can be found on MATLAB Central: https://www.mathworks.com/matlabcentral/fileexchange/66739. Movies on how the simulation works can be accessed at: http://list.youku.com/albumlist/show/id_51604678.html
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Experimental study of Fractional Order Proportional Integral (FO-PI) Controller for water level control
2015Co-Authors: Varsha Bhambhani, Yangquan ChenAbstract:Abstract — Based on our previously developed tuning procedure for fractional order proportional integral Controller (FO-PI), we present in this paper an extensive comparative experimental study on coupled-tank liquid level controls. Our experimental study consists of four steps, they are mathematical modeling of the plant, identification of plant parameters, water-level Controller design and comparisons in Simulink [software (s/w) mode] and final experimental verification and comparisons in real-time [hardware (h/w) mode]. The FO-PI Controller is compared with Ziegler Nichol’s (ZN) and Modified Ziegler Nichol’s (MZN) conventional integer order PI Controllers in terms of load disturbance rejection, changes in plant dynamics and setpoint tracking. Experimental results confirmed that FO-PI Controller is a promising Controller in terms of percentage overshoot and system response in liquid-level control in face of nonlinearities introduced by pumps, valves and sensors. Index Terms — Fractional calculus, fractional order Controller, pro-portional and integral control, Controller tuning, coupled tank, liquid level control. I
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application of fractional order current Controller in three phase grid connected pv systems
Advances in Computing and Communications, 2014Co-Authors: Hadi Malek, Sara Dadras, Yangquan ChenAbstract:The main purpose of this work is to develop a closed-loop fractional order control system for a three phase grid-connected photo-voltaic (PV) system. A two level three phase inverter with an inductive filter is chosen as a benchmark, due to the fact that this topology is more popular and simple in a grid connected PV system. A fractional order PI Controller has been tuned for current control loop of the considered system and the system responses are compared with the responses of the closed loop system with integer order Controller. Simulation results show the improvement in the performance of grid-connected PV system by using the fractional order Controller.
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a fractional order proportional and derivative fopd motion Controller tuning rule and experiments
IEEE Transactions on Control Systems and Technology, 2010Co-Authors: Ying Luo, Yangquan ChenAbstract:In recent years, it is remarkable to see the increasing number of studies related to the theory and application of fractional order Controller (FOC), specially PI ? D ? Controller, in many areas of science and engineering. Research activities are focused on developing new analysis and design methods for fractional order Controllers as an extension of classical control theory. In this paper, a new tuning method for fractional order proportional and derivative (PD ?) or FO-PD Controller is proposed for a class of typical second-order plants. The tuned FO-PD Controller can ensure that the given gain crossover frequency and phase margin are fulfilled, and furthermore, the phase derivative w. r. t. the frequency is zero, i.e., the phase Bode plot is flat at the given gain crossover frequency. Consequently, the closed-loop system is robust to gain variations. The FOC design method proposed in the paper is practical and simple to apply. Simulation and experimental results show that the closed-loop system can achieve favorable dynamic performance and robustness.
Maamar Bettayeb - One of the best experts on this subject based on the ideXlab platform.
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smith predictor based fractional order filter pid Controllers design for long time delay systems
Asian Journal of Control, 2017Co-Authors: Rachid Mansouri, Maamar Bettayeb, Ubaid M Alsaggaf, Ibrahim Mustafa MehediAbstract:In this paper, an original model-based analytical method is developed to design a fractional order Controller combined with a Smith predictor and a modified Smith predictor that yield control systems which are robust to changes in the process parameters. This method can be applied for integer order systems and for fractional order ones. Based on the Bode's ideal transfer function, the fractional order Controllers are designed via the internal model control principle. The simulation results demonstrate the successful performance of the proposed method for controlling integer as well as fractional order linear stable systems with long time delay.
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internal model control proportional integral derivative fractional order filter Controllers design for unstable delay systems
Journal of Dynamic Systems Measurement and Control-transactions of The Asme, 2016Co-Authors: Kahina Titouche, Rachid Mansouri, Maamar Bettayeb, Ubaid M AlsaggafAbstract:An analytical design for proportional integral derivative (PID) Controller cascaded with a Fractional-Order filter is proposed for first-order unstable processes with time delay. The design algorithm is based on the internal model control (IMC) paradigm. A two degrees-of-freedom (2DOF) control structure is used to improve the performance of the closed-loop system. In the 2DOF control structure, an integer order Controller is used to stabilize the inner-loop, and a Fractional-Order Controller for the stabilized system is employed to improve the performance of the closed-loop system. The Walton–Marshall's method, which is applicable to quasi-polynomials, is then used to establish the internal stability condition of the closed-loop system (the fractional part of the Controller in particular) and to seek the set of stabilizing proportional (P) or proportional-derivative (PD) Controller parameters.
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fractional imc pid filter Controllers design for non integer order systems
Journal of Process Control, 2014Co-Authors: Maamar Bettayeb, Rachid MansouriAbstract:Abstract Fractional order Controller design with a small number of tuning parameters is very attractive. Few attempts have been done recently for some limited cases of models. In this paper, a new approach is developed to design simple Fractional-Order Controllers to handle fractional order processes. The fractional property is not especially imposed by the Controller structure but by the closed-loop reference model. The resulting Controller is fractional but it has a very interesting structure for its implementation. Indeed, the Controller can be decomposed into two transfer functions: a PIυDμ-Controller and a simple fractional filter. The new structure is named PIυDμ-FOF-Controller. The design method is based on the internal model control (IMC) paradigm.
Abbas Kihel - One of the best experts on this subject based on the ideXlab platform.
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design and real time implementation of sliding mode supervised fractional Controller for wind energy conversion system under sever working conditions
Energy Conversion and Management, 2018Co-Authors: Hamza Afghoul, Fateh Krim, Antar Beddar, Badreddine Babes, Abbas KihelAbstract:Abstract Wind energy conversion system (WECS) is increasingly taking the place to be the most promised renewable source of energy, which obliges researchers to look for effective control with low cost. Thus, this paper proposes to build a suitable Controller for speed control loop to reach the maximum power point of the wind turbine under sever conditions and to ensure the stability of the outer voltage regulation loop to meet high range of load variations. In literature, a major defect of the well-used conventional PI Controller is the slow response time and the high damping. Nowadays, intelligent Controllers have been used to solve the drawbacks of the conventional ones but they demand high speed calculators and expensive cost. Moreover, many solutions proposed the fractional order PI Controller (FO-PI) by extending the order of integration from integer to real order. The FO-PI Controller presents also some weakness in steady state caused by the approximation methods. The idea of this paper is to propose a Sliding Mode Supervised Fractional order Controller (SMSF) which consists of conventional PI Controller, FO-PI Controller and sliding mode supervisor (SMS) that employs one of the Controllers to ensure good steady and transient states. WECS laboratory prototype is built around real-time dSPACE cards and evaluated to verify the validity of the developed SMSF. The results clearly fulfill the requirements, confirm its high performance in steady and transient states and demonstrate its feasibility and effectiveness.
Hamza Afghoul - One of the best experts on this subject based on the ideXlab platform.
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real time implementation of sliding mode supervised fractional Controller for wind energy conversion system
International Conference on Artificial Intelligence, 2018Co-Authors: Hamza Afghoul, Fateh Krim, Antar Beddar, Anouar OunasAbstract:Wind energy conversion system is increasingly taking the place to be the most promised renewable source of energy, which obliges researchers to look for effective control with low cost. Thus, this paper proposes to apply a suitable Controller for speed control loop to reach the maximum power point of the wind turbine under sever conditions. In literature, a major defect of the conventional PI Controller is the slow response time and the high damping. Moreover, many solutions proposed the fractional order PI Controller which presents also some weakness in steady state caused by the approximation methods. The main idea is to propose a Sliding Mode Supervised Fractional order Controller which consists of PI Controller, FO-PI Controller and sliding mode supervisor that employs one of them. A prototype is built around real-time cards and evaluated to verify the validity of the developed SMSF. The results fulfil the requirements and demonstrate its effectiveness.
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design and real time implementation of sliding mode supervised fractional Controller for wind energy conversion system under sever working conditions
Energy Conversion and Management, 2018Co-Authors: Hamza Afghoul, Fateh Krim, Antar Beddar, Badreddine Babes, Abbas KihelAbstract:Abstract Wind energy conversion system (WECS) is increasingly taking the place to be the most promised renewable source of energy, which obliges researchers to look for effective control with low cost. Thus, this paper proposes to build a suitable Controller for speed control loop to reach the maximum power point of the wind turbine under sever conditions and to ensure the stability of the outer voltage regulation loop to meet high range of load variations. In literature, a major defect of the well-used conventional PI Controller is the slow response time and the high damping. Nowadays, intelligent Controllers have been used to solve the drawbacks of the conventional ones but they demand high speed calculators and expensive cost. Moreover, many solutions proposed the fractional order PI Controller (FO-PI) by extending the order of integration from integer to real order. The FO-PI Controller presents also some weakness in steady state caused by the approximation methods. The idea of this paper is to propose a Sliding Mode Supervised Fractional order Controller (SMSF) which consists of conventional PI Controller, FO-PI Controller and sliding mode supervisor (SMS) that employs one of the Controllers to ensure good steady and transient states. WECS laboratory prototype is built around real-time dSPACE cards and evaluated to verify the validity of the developed SMSF. The results clearly fulfill the requirements, confirm its high performance in steady and transient states and demonstrate its feasibility and effectiveness.
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switched fractional order Controller for grid connected wind energy conversion system
International Conference on Electrical Engineering, 2017Co-Authors: Hamza Afghoul, Fateh Krim, Antar Beddar, M HouabesAbstract:This paper proposed switched fractional order Controller (SFOC) for grid connected Wind Energy Conversion System. The SFOC consists of conventional PI Controller, fractional order IP Controller and decision maker. The SFOC Controller is applied to control PMSG connected to the grid. The proposed control aims to extract maximum power under fluctuating wind speed. SFOC Controller designed to solve the drawbacks of the conventional PI Controller in transient state to offer short response time, withstands parameters variations, and deals with external disturbances. To investigate the efficiency of the proposed SFOC considering all robustness tests, an experimental setup has been established in laboratory. The experimental results demonstrate the effectiveness of the SFOC over the conventional one by realizing maximum power extraction.
