Design of an optimal non-integer order controller for controlling a servo system

Abstract

This paper presents several methods for optimal parameter tuning of non-integer order controllers for controlling a servo system. The servo system used for the purpose of the analysis was a laboratory servo system with both linear and non-linear components. Two types of models were identified for the system by means of the Kalman filter. The optimal controllers for the system models were designed to reject disturbances in a system. The optimization of controller parameters was performed in accordance with performance and robustnessdemands. A global optimization technique, i.e. particle swarm optimization (PSO), was used for the controller parameter tuning. The results, i.e. the optimal parameters of non-integer controllers, were given via a number of numerical simulations, and such non-integer controllers were compared to regular PID controllers of the integer order.

Keywords

• pid
• optimal control
• robust control
• pso