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ZEAL COLLEGE OF ENGINEERING AND RESEARCH

Department of Electronics & Telecommunication specialization in VLSI and Embedded systems

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SYNOPSIS

of the Research thesis entitled

“Non Integer Order Robust Auto Tuning Method for Fractional Order PIλDµ Controller using
successive approximation method with numerical approximation of Caputo definition”

Proposed to be submitted in

ZEAL COLLEGE OF ENGINEERING AND RESEARCH

By

Murghendra Hiremath

Supervisor :

Co-Supervisor :

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 Non Integer Order Robust Auto Tuning Method for Fractional Order
PIλDµ Controller using Successive Approximation Method with Numerical
approximation of Caputo definition

Abstract:- Tuning of Fractional order PIλDµ controller is suggested using successive

approximation method. Fractional numerical method is developed to calculate numerical
fractional differintegration. Optimization of five parameter tuning and supervisory system is
proposed for robust tuning. Comparison of performance parameter of integer and non-integer
order PID controller proposed to test with first, second and higher order integer and fractional
order systems for linear and non linear systems.

Keywords :- Auto Tuning of PID controller, tuning of fractional order PID controller,
fractional calculus, fractional numerical methods, successive approximation method.

1. Introduction
Concept of integer order differentiation and integration is more familiar than the
d
fractional order differintegration. In the integer order differentiation the operator D =
ds
dn
is often used and can be extended to the nth order operator as Dn = where ‘n’ is
dsn

positive integer. Historical birth of fractional order calculus started when in 1695 L’
Hospital asked the Leibniz what meaning could be understand when ‘n’ were a fractional
[1]. Since then the concept of fractional calculus have been attracted to many
mathematicians but it was until 1884 when the general operator theory was developed. Dn
Operator is defined for the differentiation and integration for the arbitrary order where ‘n’
could be integer or fractional, positive or negative, real or complex, rational or irrational.
α
Generalization of differentiation and integration operator aD where ‘a’ and ‘t’ are
limits of operator and[α ∈ R]. The integro-differential operator is defined
t as [2-6]
α
d
dxα ;α0
D  1 ; α 0 (1)
a t
t

∫  dx 
α
;α0
a
 Three equivalent definitions are more popular and used for differintegration are Grunwald-
Letnikov definition (GL), Riemann-Liouville definition (RL) and Caputo definition [7].

GL definition is,

Integral,

t a


D  lim h ∑
h
   m f t  mh , (2)
m!   
a t
h0
m0


Derivative,

ta

D  lim h
h
 1
∑ 1 f t mh ,
m
(3)
m!  m1
a t
h0
m0

Where [.] is the integer part.

RL definition is,

Integral,
t
1  1
J f t   f   d,
  ∫c
c
(t)  (4)

Derivative,
t
dm 1 m 1
 
t   f   d
dt   m    ∫c
D f (t)  m
at

, (5)

œ
Where Γ(. ) is the gamma function given as, Γ(n) = f e–t0 tn–1 dt and (m-1 < α <m)

Caputo Definition is,

1 t m 1

aD

f (t)  ∫ t   f m   d , (6)
 m   
t
c

Where f m (. ) is the mth order derivation of function f (.) and for m-1 < α < m
 GL definition is successfully utilised for numerical evaluation and RL definition is well
suitable for finding analytical solution of relatively simple functions. The beauty of
Caputo definition is that the initial conditions are same as like real physical states whereas
not realistic in the other two definitions especially RL definition. But, it can be
demonstrated that RL definition and the Caputo definition are both provides equal
solution under the set of homogeneous initial conditions. In many engineering
applications Caputo definition is preferred [8]. Other definition by Cauchy and hadmmard
are also available which are not listed here.

Very little attention was given for the dynamics of fractional order systems this may
happen due to inappropriate mathematical model. However, the fractional order automatic
control emerged as the new interest among the researcher and scientist. There are three
generations of CRONE (French acronym of “Commande Robuste d’Ordre Non Entier”)
which represents non integer order system having application in the field of automatic
control [9-13]. There is equal importance to the fractional order PIλDµ controller
widespread tremendous use in industry for control action. 90 % of industrial automatic
control is PID (Proportional Integral Derivative) type control action and hence software
update to fractional order PIλDµ controller definitely improves and enhances control
performance. This could be achieved without modification of installed present hardware.

Integer order and fractional order PID controller Laplace domain (S-Domain)
representation is given as,

€(S) IK
= K P + + K DS (5) (Integer Order PID)
E(S) S

€(S) KI
= KP + +K DS
µ
(6) (Fractional Order PID)
E(S) Sh

2. Literature Survey
Well tuned PID controller shows best performances so that from last few decades
more attention was given for tuning of PID controller. There are number of tuning rules
based on various concepts like process dynamics [14, 15], analytical tuning method [16],
fuzzy rule based tuner [17-22], using hybrid approach [23-25], genetic algorithm [26-28]
and optimization algorithm [29], few of online auto tuning [30-37], and numerical method
[38, 39].
 First fractional order PIλDµ controller was proposed by Podlubny [40] and proved that
fractional order PIλDµ controller shows better response as compared with traditional
integer order PID controller. Vinagre et. al. [41] suggested frequency based auto tuning of
fractional order PIλDµ controller. Zeigler-Nichols traditional three parameter (KP, KI, KD)
tuning method was used for fractional order PIλDµ controller in [42]. State space approach
for fractional order system proposed in [43]. Nataraj et. al. proposed recent Quantitative
Feedback Theory (QFT) for robust design of fractional order controllers [44]. Parameter
tuning of fractional PI controller using ITAE criteria discussed in [45, 46].
In the recent year parameter optimization of fractional order PIλDµ controller using
constraint solver is become more popular. Particle Swarm Optimization (PSO) and
Genetic Algorithm (GA) based parameter optimization of fractional order PIλDµ
controller in which objective function is minimized were reported in [47, 48].
It has been seen that huge number of researchers working on fractional order PIλDµ
controller develops in the direction of optimization algorithm and constraint solver. They
have used classical as well as modern methods for auto tuning of controller. However,
very little attention was given for the fractional numerical methods could be implemented
using programming languages in embedded environment.
3. Definition of Problem
Effective operation of fractional order PIλDµ controller contributes major part of the
system stability and robustness. Auto tuning of fractional order PIλDµ controller is
proposed using successive approximation algorithm with numerical approximation of
Caputo definition implemented in the embedded environment.
4. Objectives of Research
1. Development of fractional numerical differentiation and integration method.
2. Development of suitable algorithm for the implementation of fractional
numerical methods in the embedded environment.
3. Development of successive approximation method for auto tuning of
fractional order PIλDµ controller.
4. Performance comparison of integer and fractional order controller for first,
second and higher order linear and non linear systems and also integer and
fractional order systems.
5. Development of optimization technique to optimize the performance of auto
tuning.
 6. Development of mathematical model for robustness and disturbances for auto
tuning.
7. Development of noise model and design of fractional order filters to suppress
the effect of noise on auto tuning parameters.
8. Development of supervisory system to quantify and rectify error in numerical
method.
9. Development of software package to update present integer order PID
controller to fractional order PIλDµ controller.
5. Methodology

Auto tune Optimization

algorithm and
supervisory
system
Disturbances

Fractional System
SP order
controller

PV Feedback
network
with noise
filter

Figure 1:- General scheme of Proposed work

Successive approximation algorithm based on auto tuning algorithm calculates control

parameters and on the basis of these parameters fractional order PIλDµ controller
generates control signal to actuate the system. Mean while optimization algorithm selects
best of optimal solution where objective function is minimum. Supervisory system is
necessary to handle load disturbances and any other non linearity introduced at random in
the system. General scheme of proposed method is shown in figure 1.
a. Fractional Numerical differentiation and integration
y(x) be any function of x and first order integer derivative is y’(x) using fractional
notation given as,
 D  y(x)   y '(x)
D

D  y(x)   y '(x)
D
D D D  y(x)   y '(x)
D D1  y(x)   y '(x)

Now consider the Lagrange Polynomial of y(x) and y’(x) is dividing in number of
intervals of equal length ‘h’ then the general observations are,

xn  nh
yn  yn (xn )  yn (nh)
xk  nh
yk  yk ( xk )  yk (nh)

Where,n=1,2,...N-1, Nistotalnumberofintervals. K=1,2,3,...n-1 Caputo

definition is, (m=1 and interval [0, t])
1 m 1

∫ t   f m    d
t
 f (t)  ,
aD
 m   
t
c
t
1 

t   f 1   d
 1   ∫

0 D t f (t) 
0
1
t
f 1  
Dt f (t)  d
 1   ∫0  t   
0


Rearranging the equation as,

f 1   
 1   0 D f (t)  ∫
t

 d
(7)
  
t
0 t 

Approximation could be applied to equation 7 and accepting error due to

approximation. Let approximate fractional operator as and 0
Dt f (t)  y (x )n, t=xn

substituting in equation 7,
xn
y1  
 1   y (xn )  ∫  d
0  xn   

The function y(xn) and y’(xk) having number of intervals called as subintervals. If the area of one
subinterval is selected then the total area is the weighted sum of all subintervals satisfying properties of
Lagrange polynomial. Selecting Xk-1 to Xk interval in the y’(x) polynomial and choosing the
middle point for proper analysis,
 xn y1  
 1   y (xn )  ∫  d
0  n 
x  
 1   y (x )  ∑
n xk
d
y x k 0.5 
1



∫ x
n   
n
k 1 xk 1
y(x k )  y(x k 1 ) d
n kh
∑


k 1 h
∫
( k 1) h
nh  
n
y(x )  y(x ) ((n  k 1)h)1  ((n  k )h)1
∑ k k 1

k 1 h 1 
n y(x )  y(x )h 1
∑ k k 1
((n  k 1))1  ((n  k ))1
k 1 h 1 
y(xk )  y(xk 1 )
∑ 1 1
n

 ((n  k 1))  ((n  k ))

k 1 h (1  )
n

h (1  )  1   y (xn )  ∑  y(xk )  y(xk 1 )  ((n  k 1))1  ((n  k ))1

k 1

Numerical approximation of caputo definition is,

 1 n 1 1

y (xn ) 
h (1  )  1  
∑  y(x )  y(x )
k k 1 ((n  k 1))  ((n  k)) (8)
k 1

Defining G operator as,

Gk  ((n  k 1))1  ((n  k))1 (9)

Approximate fractional numerical Caputo definition is,

 1 
n
y (xn ) 
h (1  )  1  
∑ G  y(x )  y(x )
k k k 1 (10)
k 1

Equation 10 is difficult for numerical evaluation due to the term y(xk) available on the polynomial
y’(x) and hence further analysis is required to express equation 10 in terms of y(xn).
y (x )  G y(x )  G y(x )
n
1
n
h (1  )  1   k 1
∑ k k k k 1

Changing upper limit of summation operator as,



 1 n1
 
y (xn )  Gn  y(xn )  y(xn1 )   ∑ Gk y(xk )  Gk y(xk 1 )
h (1  )  1   k 1

This process repeats then the solution in terms of yn written as,

  1   n1   


 


y (xn )  Gn y(xn )  G1 y(x0 )  ∑ ynk Gnk  Gnk 1 (11)

h (1  )  1  

k 1


Defining M operator as,
 
 
M G  G  (12)
k nk nk 1

Substituting in 11 and changing upper and lower limit of summation as,

n
y (xn )  1
h (1  )  1  
 ∑ M k 
ynk (13)
k 0

b. Successive Approximation Method

Integer order PID equation is,
de
y  kPe(t)  kI ∫ e(t)dt  k D (14)
dt
Fractional order PID equation is,

y  k Pe(t)  k D
I

 e(t)  k DD   e(t) (15)

Dynamic control equation for auto tuning is,

D[ y]  k P D[e(t)]  k I D D    e(t)   k D D D   e(t)  (16)

Where D is derivative operator D=d/dt.

PIλDµ parameter is calculated by assuming effects of other parameters are negligible.
D[ y] y
kP   (17)
D[e(t)] e
D[ y] y 
kI   (18)
D D   e(t)  D e

D[ y] y
kD   (19)
D D   e(t)  D e

Using Hadmmard definition other two parameters are given as,

log(kI )  log(y)
 (20)
log(De)

log(kD )  log(y)
 (21)
log(De)
 c. Algorithm of proposed method
1. Identify System using artificial neural network for speed up auto tuning and
save the system model. This model is known as Internal Predictive System
Model (IPSM). Use IPSM for tuning of fractional PIλDµ controller.
2. Calculate initial tuning parameters and define minimum and maximum range
of tuning parameters.
3. Use equation 17 to 21 for parameter calculation. (auto tune algorithm)
4. Use equation 13 for calculation of fractional numerical differentiation and
integration.
5. Optimization algorithm provides an optimal setting to auto tuner and fractional
controller.
6. Repeats the steps 3 to 5 until termination condition is satisfied.
7. Stop the tuning process and use the obtained parameter to control the physical
system.
8. Supervisory algorithm calculates difference between predicted output and
actual system output during control of system. On the basis of difference and
present error (Set point – Process Value) corrective measure signal will be
generated to nullify effect of disturbances.
9. Repeat the step 7 to 8 forever.
6. Schedule and Scheme of chapters
Sr. Duration
Brief Details of work
No. in Month
Development of fractional numerical differentiation and integration
1 1
method.
Development of suitable algorithm for the implementation of fractional
2 1
numerical methods in the embedded environment.
Development of successive approximation method for auto tuning of
3 1
fractional order controller.
Performance comparison of integer and fractional order controller for
4 first, second and higher order linear and non linear systems and also 9
integer and fractional order systems.
Development of optimization technique to optimize the performance of
5 3
auto tuning.
 Development of mathematical model for robustness and disturbances
6 3
for auto tuning.
Development of noise model and design of fractional order filters to
7 3
suppress the effect of noise on auto tuning parameters.
Development of supervisory system to quantify and rectify error in
8 3
numerical method.
Development of software package to update present integer order PID
9 3
controller to fractional order controller.

Chapter Scheme
1. Introduction
2. Literature Review
3. Theoretical Background: - Fractional calculus
4. Mathematical analysis, algorithm and System Design
5. System Performance and comparison
6. Discussion & Conclusion

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