Improved Internal Model Control-Proportional-Integral- Derivative Fractional-Order Multiloop Controller Design for Non Integer Order Multivariable Systems

Abstract

This paper is aimed to propose a multiloop control scheme for fractional order multi-input multi-output (FO-MIMO) systems. It is an extension of the FO-multiloop controller design method developed for integer order multivariable systems to FO-MIMO ones. The interactions among the control loops are considered as disturbances and a two degrees-of-freedom (2DOF) paradigm is used to deal with the process outputs performance and the interactions reduction effect, separately. The proposed controller design method is simple, in relation with the desired closed-loop specifications and a tuning parameter. It presents an interest in controlling complex MIMO systems since fractional order models (FO-models) represent some real processes better than integer order ones and high order systems can be approximated by FO-models. Two examples are considered and compared with other existing methods to evaluate the proposed controller.