Design of fractional order controllers based on particle swarm optimization

An intelligent optimization method for designing Fractional Order PID (FOPID) controllers based on Particle Swarm Optimization (PSO) is presented in this paper. Fractional calculus can provide novel and higher performance extension for FOPID controllers. However, the difficulties of designing FOPID controllers increase, because FOPID controllers append derivative order and integral order in comparison with traditional PID controllers. To design the parameters of FOPID controllers, the enhanced PSO algorithm is adopted, which guarantee the particle position inside the defined search spaces. The optimization performance target is the weighted combination of ITAE and control input. The numerical realization of FOPID controllers uses the methods of Tustin operator and continued fraction expansion. Experimental results show the proposed method is highly effective.