This paper presents a new algorithm of the fractional order PID (FOPID) control based on genetic algorithms (GA) in the position control of a 3 DOF's robotic system driven by DC motors. The optimal settings for a FOPID controller as well as an integer order PID controller (IOPID) are done, applying the GA tuning approach and their extension for FOPID-IOPID controllers in a comparative manner. The effectiveness of the suggested optimal FOPID control is demonstrated with a given robotic system as an illustrative example. The rest of the paper presents the design of an advanced algorithm of the FOPID control tuned by GA and the application in the control of the production of technical gases, i.e. in the cryogenic air separation process. Then, the obtained model is linearized and decoupled and consequently IOPID and FOPID controllers are applied. In the same manner, a set of optimal parameters of these controllers is achieved through the GA optimization procedure through minimizing the proposed cost function. Finally, the use of the simulation results in the time domain has shown that the FOPID controller improves a transient response and provides more robustness than a conventional IOPID.


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    Title :

    Further results on fractional order control of a mechatronic system


    Contributors:

    Publication date :

    2013-01-01


    Remarks:

    Scientific Technical Review (2013) 63(3):22-32 ; ISSN: 1820-0206


    Type of media :

    Article (Journal)


    Type of material :

    Electronic Resource


    Language :

    English



    Classification :

    DDC:    629



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