Design of Fractional Order PID Controller Based on Genetic Algorithms

AbstractFractional Order Proportional-Integral-Derivative (FOPID) controller is based on integration and differentiation of non-integer order. It is usually denoted by (0 < < 1 and 0 < < 1) . In this work the gain values of the proportional, Integral, and derivative (i.e ) as well as the values of and are obtained using Genetic Algorithms (GAs).The tuning procedure is based on the principle of model reference control. Illustrative example is presented in which FOPID controller is designed and compared with Integer Order PID (IOPID) ones. It was shown that FOPID controllers gave more freedom in faithfully following the dynamics of the reference model.Key Words: Fractional order, PID tuning rules, Genetic Algorithms, Model reference control.