Design of controllers based on parameters optimization in fractional order control systems

One of the most important topics to be emphasized in the control theory is the successful determination of the controller parameters that make the control system stable and provide the desired output response. To date, many methods have been used to determine the controller parameters. Methods for tuning all of the controller parameters may produce different results in different control systems. Therefore, it cannot be said that there is a special method for tuning the best controller parameters. It is a known fact that fractional order systems can model real systems better than integer order systems. In this thesis, a variety of optimization methods have been developed that implement controller designs based on parameter optimization in control systems with fractional order transfer functions. First, a method for controlling systems with fractional order transfer function including uncertain parameters is proposed using phase-lead and phase-lag controllers. PI, PID, PI-PD, fraction order PID, phase-lead and phase-lag controller designs were performed for fractional order systems and stability analysis of the systems controlled by phase-lead and phase-lag controller were investigated. Here, the error is minimized by using integral performance criteria as objective function in the optimization process. In order to determine the controller parameters such as PI, PI-PD, phase-lead and lag, optimization techniques based on reference model were developed and control systems were designed. In addition, optimization algorithms have been developed to determine PI, PID and PI-PD controller parameters by using some heuristic algorithms and control of fractional order systems has been provided. Finally, real-time control applications on TRMS system have been carried out. In this experimental study, pitch position, yaw position and decoupling controls of TRMS were performed with fractional order PID controller.