title: Tuning rules for robust FOPID controllers based on multi-objective optimization with FOPDT models.
abstract: In this paper a set of optimally balanced tuning rules for fractional-order proportional-integral-derivative controllers is proposed. The control problem of minimizing at once the integrated absolute error for both the set-point and the load disturbance responses is addressed. The control problem is stated as a multi-objective optimization problem where a first-order-plus-dead-time process model subject to a robustness, maximum sensitivity based, constraint has been considered. A set of Pareto optimal solutions is obtained for different normalized dead times and then the optimal balance between the competing objectives is obtained by choosing the Nash solution among the Pareto-optimal ones. A curve fitting procedure has then been applied in order to generate suitable tuning rules. Several simulation results show the effectiveness of the proposed approach.
authors.affiliation: Departament de Telecomunicació i Enginyeria de Sistemes, ETSE, Universitat Autònoma de Barcelona, Carrer de es Sitges, 08193 Bellaterra, Barcelona, Spain. Electronic address: helemsabina.sanchez@uab.cat.
authors.forename: Helem Sabina
authors.initials: HS
authors.lastname: Sánchez
authors.affiliation: Department of Mathematics & Statistics, Curtin University, Kent St, Bentley, WA 6102, Australia. Electronic address: fabrizio.padula@curtin.edu.au.
authors.forename: Fabrizio
authors.initials: F
authors.lastname: Padula
authors.affiliation: Dipartimento di Ingegneria Meccanica e Industriale, University of Brescia, Via Branze 38, I-25123 Brescia, Italy. Electronic address: antonio.visioli@unibs.it.
authors.forename: Antonio
authors.initials: A
authors.lastname: Visioli
authors.affiliation: Departament de Telecomunicació i Enginyeria de Sistemes, ETSE, Universitat Autònoma de Barcelona, Carrer de es Sitges, 08193 Bellaterra, Barcelona, Spain. Electronic address: ramon.vilanova@uab.cat.
authors.forename: Ramon
authors.initials: R
authors.lastname: Vilanova
keywords: Balanced tuning; Fractional-order PID controllers; Multi-objective optimization; Nash solution