Improved control of integrating cascade processes with time delays using fractional-order internal model controller with the Smith predictor

Abstract

This article proposes an enhanced control of integrating cascade processes. The importance of the scheme shows by controlling a double integrating process with time delay under significant parametric uncertainties and load disturbances. A novel design is proposed based on the Smith predictor principle and uses a fractional-order internal model controller in the outer loop. The required fractional-order tuning parameter follows the desired gain and phase margins. At the same time, another tuning parameter, such as the fractional filter’s time constant, is calculated from the desired performance constraint. Numerical analysis and comparison are performed to showcase the feature of the hybrid structure. The simulation results show that the fractional-order internal model controller–based scheme provides enhanced tracking and faster regulation capabilities and works well under nominal and parameter uncertainty conditions.

Direct synthesis approach to design PDμ${\text{PD}}^\mu$ based smith predictor for integrating plants: Studied on a quadrotor UAV

“…Otherside, fractional-order controllers are widely used recently to have more fine-tuning and wider stability margins [15][16][17]. Using the DS method, an optimal fractional-order controller is proposed for a fractional-order model.…”