|Fractional Order IMC Controller Design for Two-input-two-output Fractional Order System
Dazi Li*, Xingyu He, Tianheng Song, and Qibing Jin
International Journal of Control, Automation, and Systems, vol. 17, no. 4, pp.936-947, 2019
Abstract : "Research on the fractional order system is becoming more and more popular. Most of the fractional order
controller design methods focus on single-input-single-output processes. In this paper, a fractional order internal
model controller with inverted decoupling is proposed to handle non-integer order two-input-two-output systems
with time delay. The fractional order two-input-two-output (FO-TITO) process is decoupled by inverted decoupling
method. The fractional order internal model control (IMC) is then used to simplify the tuning process. Because of
the complexity of multiple time delay, the condition of FO-TITO process with time delay is discussed. In order to
ensure the robustness of the system, a Maximum sensitivity function is used to tune the parameters. Then Lyapunov
stability theory is applied to verify the stability of the system. The proposed controller provides ideal performance
for both set point-tracking and disturbance rejection and is robust to process gain variations. Numerical results
show the performance of the proposed method."
"Fractional order system, internal model control, inverted decoupling, Lyapunov stability theory, maximum sensitivity function, time delay, two-input-two-output process."