Design Optimal Fractional Order PID Controller Utilizing Particle Swarm Optimization Algorithm and Discretization Method
Abdelelah Kidher Mahmood1, Bassam Fadel Mohammed2

1Abdelelah Kidher Mahmood, Electrical Engineering Dept., University of Mosul/ College of Engineering, Mosul, Iraq.
2Bassam Fadel Mohammed, Electrical Engineering Dept., University of Mosul / College of Engineering, Kirkuk, Iraq.

Manuscript received on August 11, 2013. | Revised Manuscript received on August 15, 2013. | Manuscript published on August 25, 2013. | PP: 87-92 | Volume-1, Issue-10, August 2013. | Retrieval Number: J04440811013/2013©BEIESP

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Abstract: In this paper particle swarm optimization algorithm has been applied todesign fractional order PID (FOPID)controllerwhich has five unknown parameters to be tuned anddetermined by minimizing a given integral of timeweightedabsolute error (ITAE) as a fitness function. The FOPIDcontroller is a special kind of PID controller whose derivative andintegral order are fractional rather than integer which has fivetuned parameters.The closed loop systemfor a plant cascadedwith the fractional order PID (PIλD µ ) controller has been builtutilizing a MATLAB/Simulink with applicationof intelligentoptimization algorithm (PSO) asa sub program. The parameters of the PIλD µ controller found and injected to the controller structure. Themain specification of this method is that the all five parameters of PIλD µ controller have been found directly without spreading the steps ofcomputation. The results showperformance of the closed loopsystem with FOPID controller is much better than integer orderPID controller for the same system and with better robustness.ThePIλD µ controller converted to z domain and programing toPIC microcontroller using new PIC Development Board.
Keywords: Fractional calculus,fractional order controller, fractional order toolbox for MATLAB, MATLAB Simulink, PSO algorithm, continued fractionexpansion(CFE), programing in C,PIC microcontroller.