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Open AccessArticle

Fractional PIλD Controller Design for a Magnetic Levitation System

Department of Automatic Control and Robotics, AGH University of Science and Technology, Al. Mickiewicza 30, 30-059 Kraków, Poland
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Electronics 2020, 9(12), 2135; https://doi.org/10.3390/electronics9122135
Received: 11 November 2020 / Revised: 6 December 2020 / Accepted: 9 December 2020 / Published: 13 December 2020
(This article belongs to the Special Issue Fractional-Order Circuits & Systems Design and Applications)
Currently, there are no formalized methods for tuning non-integer order controllers. This is due to the fact that implementing these systems requires using an approximation of the non-integer order terms. The Oustaloup approximation method of the sα fractional derivative is intuitive and widely adopted in the design of fractional-order PIλD controllers. It requires special considerations for real-time implementations as it is prone to numerical instability. In this paper, for design and tuning of fractional regulators, we propose two methods.The first method relies on Nyquist stability criterion and stability margins. We base the second on parametric optimization via Simulated Annealing of multiple performance indicators. We illustrate our methods with a case study of the PIλD controller for the Magnetic Levitation System. We illustrate our methods’ efficiency with both simulations and experimental verification in both nominal and disturbed operation. View Full-Text
Keywords: non-integer controller; fractional controller; magnetic levitation system; tuning PIλD non-integer controller; fractional controller; magnetic levitation system; tuning PIλD
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MDPI and ACS Style

Bauer, W.; Baranowski, J. Fractional PIλD Controller Design for a Magnetic Levitation System. Electronics 2020, 9, 2135. https://doi.org/10.3390/electronics9122135

AMA Style

Bauer W, Baranowski J. Fractional PIλD Controller Design for a Magnetic Levitation System. Electronics. 2020; 9(12):2135. https://doi.org/10.3390/electronics9122135

Chicago/Turabian Style

Bauer, Waldemar; Baranowski, Jerzy. 2020. "Fractional PIλD Controller Design for a Magnetic Levitation System" Electronics 9, no. 12: 2135. https://doi.org/10.3390/electronics9122135

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