The Frequency and Real-Time Properties of the Microcontroller Implementation of Fractional-Order PID Controller

Oprzędkiewicz, Krzysztof; Rosół, Maciej; Żegleń-Włodarczyk, Jakub

doi:10.3390/electronics10050524

Cited by 11 publications

(4 citation statements)

References 24 publications

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“…Thus, applications using fractional order controllers have become doable and lines of research focused on control optimization are feasible for non-integer degrees. Recently, many works have been published with tuning Fractional Order PID (FOPID) techniques in different subjects exploring the higher range of the fractional parameters [8][9][10][11][12][13].…”

Section: Introductionmentioning

confidence: 99%

A Robustness Analysis of a Fuzzy Fractional Order PID Controller Based on Genetic Algorithm for a DC-DC Boost Converter

et al. 2022

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In this paper, a new topology of a Fractional Order PID (FOPID) controller is proposed to control a boost DC-DC converter with minimum over/undershoot. The fractional controller parameters are tuned using a genetic algorithm (GA) with a combined cost function composed of the Integral of Time-Weighted Absolute Error (ITAE) and the Integral of Time-Weighted Square Error (ITSE). Despite adding moderate complexity to the control structure, the simulation results reveal that the GA-based FOPID controller tuning provided better performance for the setpoint tracking both under load variations and parameters deviation due to the prolonged use. The proposed FOPID shows a wide operational range concerning load disturbances, and capacitance/inductance deviations of ±30% and ±50% from nominal values, achieving functionality and voltage stability even with output power 50% higher than the converter power specification. The assessment was made considering operation in voltage mode and the performance was compared to conventional Proportional-Integral (PI), Type II and current mode controllers. Finally, a fuzzy fractional-order PID (FFOPID) was designed to outperform the FOPID during disturbances in the control variable.

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Section: Introductionmentioning

confidence: 99%

A Robustness Analysis of a Fuzzy Fractional Order PID Controller Based on Genetic Algorithm for a DC-DC Boost Converter

et al. 2022

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“…The Gamma function, denoted by Γ(. ), is the fundamental function in fractional-order calculus, as stated in Equation (1) [27].…”

Section: Preliminariesmentioning

confidence: 99%

High-Security Image Encryption Based on a Novel Simple Fractional-Order Memristive Chaotic System with a Single Unstable Equilibrium Point

et al. 2021

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Fractional-order chaotic systems have more complex dynamics than integer-order chaotic systems. Thus, investigating fractional chaotic systems for the creation of image cryptosystems has been popular recently. In this article, a fractional-order memristor has been developed, tested, numerically analyzed, electronically realized, and digitally implemented. Consequently, a novel simple three-dimensional (3D) fractional-order memristive chaotic system with a single unstable equilibrium point is proposed based on this memristor. This fractional-order memristor is connected in parallel with a parallel capacitor and inductor for constructing the novel fractional-order memristive chaotic system. The system’s nonlinear dynamic characteristics have been studied both analytically and numerically. To demonstrate the chaos behavior in this new system, various methods such as equilibrium points, phase portraits of chaotic attractor, bifurcation diagrams, and Lyapunov exponent are investigated. Furthermore, the proposed fractional-order memristive chaotic system was implemented using a microcontroller (Arduino Due) to demonstrate its digital applicability in real-world applications. Then, in the application field of these systems, based on the chaotic behavior of the memristive model, an encryption approach is applied for grayscale original image encryption. To increase the encryption algorithm pirate anti-attack robustness, every pixel value is included in the secret key. The state variable’s initial conditions, the parameters, and the fractional-order derivative values of the memristive chaotic system are used for contracting the keyspace of that applied cryptosystem. In order to prove the security strength of the employed encryption approach, the cryptanalysis metric tests are shown in detail through histogram analysis, keyspace analysis, key sensitivity, correlation coefficients, entropy analysis, time efficiency analysis, and comparisons with the same fieldwork. Finally, images with different sizes have been encrypted and decrypted, in order to verify the capability of the employed encryption approach for encrypting different sizes of images. The common cryptanalysis metrics values are obtained as keyspace = 2648, NPCR = 0.99866, UACI = 0.49963, H(s) = 7.9993, and time efficiency = 0.3 s. The obtained numerical simulation results and the security metrics investigations demonstrate the accuracy, high-level security, and time efficiency of the used cryptosystem which exhibits high robustness against different types of pirate attacks.

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“…So, in order to get around the issue of high costs, some researchers used field-programmable gate arrays (FPGAs) [33,40], which have evolved into an alternative option for achieving flexibility and higher accuracy but are still challenging to implement due to the complexity of the board [41], using the Programmable Logic Controllers (PLC) implementation, which is more suitable for industrial applications due to its simplicity and lower cost [41,42]. Another approach that is more straightforward than FPGA implementations is one that is focused on ARM processors [43]. However, the demands for a standard, simple and also a low-cost hardware realization that can be applied in various projects is required.…”

Section: Introductionmentioning

confidence: 99%

Improved Path Tracking Control in Mobile Robots Using a Hybrid FOPID Controller with Backstepping Technique: An Experimental Study

Euldji¹,

Rebhi²,

Alkhafaji³

et al. 2023

JESA

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This study aims to address the challenge of low-cost hardware implementation of a combined backstepping with fractional order PID (FOPID) controller for mobile robots in real-time applications. Moreover, this work proposes a self-designed mobile robot prototype that is easy to realize, low in cost, spares time, and reduces human effort. This robot platform was equipped with two DC motors with quadratic encoders and two passive wheels, controlled by an Arduino mega, where the software code was developed in the Matlab-Simulink environment, using Simulink support package for Arduino. Four case studies were conducted to demonstrate the effectiveness of the suggested methodology. Experimental results demonstrate improved trajectory tracking performance with less tracking error and smooth control efforts, and is capable of handling trajectories with continuous and non-continuous gradients.

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The Frequency and Real-Time Properties of the Microcontroller Implementation of Fractional-Order PID Controller

Cited by 11 publications

References 24 publications

A Robustness Analysis of a Fuzzy Fractional Order PID Controller Based on Genetic Algorithm for a DC-DC Boost Converter

A Robustness Analysis of a Fuzzy Fractional Order PID Controller Based on Genetic Algorithm for a DC-DC Boost Converter

High-Security Image Encryption Based on a Novel Simple Fractional-Order Memristive Chaotic System with a Single Unstable Equilibrium Point

Improved Path Tracking Control in Mobile Robots Using a Hybrid FOPID Controller with Backstepping Technique: An Experimental Study

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