Design of 2-Degree of Freedom Fractional Order PID Controller for Magnetic Levitation Plant with Time Delay

摘要

This work presents the design of a two Degree of Freedom fractional order PID (2-DOF FOPID) controller to stabilize a second order unstable magnetic levitation plant having time delay. To achieve the optimum performance of the system, the controller gains have been tuned using Monarch Butterfly Optimization (MBO), a recently developed evolutionary algorithm. The performance of the 2-DOF FOPID controller has been compared with its 1-DOF counterpart. The obtained results validate that the 2-DOF FOPID enhances the performance of the system in both frequency and time domains and also exhibits superior robustness to external disturbances and parameter uncertainties.