Tuning Fractional Order Proportional Integral Derivative Controller for DC Motor Control Model Using Cross-Entropy Method

摘要

PID controller has been widely used in various engineering fields. If PID controller involves fractional order calculus then it will form a new type of controller called FOPID. However, FOPID poses a new problem that is on tuning the controller parameters. Therefore this research will propose metaheuristic method as FOPID tuning technique namely CEM. This research was conducted using step response simulation with DC motor model system. Tuning process is done using CEM program based on 3 tuning criterias. The results show that FOPID-CEM controller has superior performance, both when compared with Ziegler-Nichols PID controller as well as other controllers which are tuned with the same CEM program.