This study presents a maiden application of cascade tilt-integral–tilt-derivative (CC-TI-TD) controller for the performance analysis of load frequency control (LFC) of interconnected multi-source ...power system (MSPS). The studied controller is realised based on cascade control theory and fractional order calculus. TI controller is used as a master controller and TD controller served as slave controller in the proposed CC-TI-TD controller. To demonstrate the performance of proposed CC-TI-TD controller, first, it is applied to single-area MSPS followed by two-area MSPS in the presence of electric vehicles (EVs). The proposed controller gains' parameters are optimised by state-of-the-art water cycle algorithm (WCA) according to the minimisation of fitness function. First, the effectiveness of proposed WCA-tuned CC-TI-TD controller over the WCA-tuned cascade proportional-integral–proportional-derivative (CC-PI-PD) controller and modified grey wolf optimisation-based tuned proportional-integral derivative and CC-PI-PD controllers has been explored in single-area-studied power system. Second, the performance of WCA-tuned CC-TI-TD controller with and without presence of EVs in a two-area interconnected MSPS is assessed with respect to another class of the fractional order controller termed as integral tilt-derivative controller. Lastly, sensitivity analysis and the effect of time delay on LFC performance are carried out to show the robustness of proposed CC-TI-TD controller.
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FZAB, GIS, IJS, KILJ, NLZOH, NUK, OILJ, SBCE, SBMB, UL, UM, UPUK
A novel quasi-oppositional-based salp swarm algorithm (QSSA) is used to obtain the optimal values of controllers for automatic generation control of the two-area, assorted source of the ...generation-based power system. Thermal, hydro, and gas generating units are considered in the power system. Optimal values of proportional–integral–derivative (PID) controllers obtained using SSA and QSSA are compared with that of PID controllers based on differential evolution, teaching learning-based optimisation, and imperialist competitive algorithm. Observing the superiority with a QSSA-based PID controller, the study is protracted to obtain the optimal values of two-degree-of-freedom conventional PID (2DOF-PID) and 2DOF fractional order PID (2DOF-FOPID) controller with SSA and QSSA techniques. It is evidenced that QSSA outperforms SSA and also the QSSA-based 2DOF-FOPID controller establishes a better dynamic response than other controllers. 2DOF-FOPID controller is also employed for the system with generation rate constraint (GRC). The complete analysis is carried out by applying a step load disturbance of 1 p.u. in area-1. Robustness of the controller is verified by varying the systems' parameters and a randomly varying loading pattern in both areas with and without GRC. In both cases, the proposed QSSA-based 2DOF-FOPID controller is found firmly robust.
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FZAB, GIS, IJS, KILJ, NLZOH, NUK, OILJ, SBCE, SBMB, UL, UM, UPUK
Load frequency control in modern-complex-uncertain power systems (PSs) assumes significance due to their challenging nature of the operation and hence utilisation of robust controllers is ...indispensable. In the industry, conventional single-loop controllers may not offer robust behaviour under changed operating conditions. Alternatively, two-loop cascade fuzzy structured controllers can show significant robust performance in dynamic conditions and best suited in systems having non-linearities. Hence, a novel optimal cascade fuzzy-fractional order integral derivative with filter (CF-FOIDF) controller is utilised for 2-area thermal and hydrothermal PSs considering various physical constraints from a practical point of view. As physical constraints mandate an energy storage system, hence in this study, batteries of electric vehicles (EVs) are employed to assist power plants to swiftly arrest oscillations in the system frequency following load demands. A combined model of EV fleets is incorporated in the control areas of PSs. Numerous simulations are conducted to authenticate the robustness and excellence of EVs and the suggested control strategy over existing methods.
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This study describes a maiden application of salp swarm algorithm (SSA) optimised cascade tilt–integral–derivative controller (CC-TID) for frequency and tie-line power control of interconnected power ...systems (IPSs). The proposed controller includes both the merit of the cascade control algorithm and fractional-order calculus. In the proposed CC-TID controller, TID controller is used as a slave controller and a proportional–integral (PI) controller served the role of master controller. To elucidate the effectiveness, the designed controller has employed to, initially, two-area IPS followed by four-area IPS. SSA is used to pursue the optimum settings of the CC-TID controller via the minimisation of area control error. Performances of CC-TID controller is obtained and compared with I-, PI-, PI–derivative-, cascade PI–PD, and TID controllers. Simulation results, apparently, show that SSA: CC-TID controller exhibits superior performance compared with other controllers described above. Moreover, the performance of SSA is evaluated and compared with differential evolution and flower pollination algorithm in terms of convergence profile, power density, and statistical results. Finally, time-varying step load perturbation and random load perturbation are applied to confirm the robust behaviour of SSA: CC-TID controller.
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A non-fragile H∞ integral structure is developed in the discrete-time representation to illuminate the disturbance effects in the reference regulation of the uncertain systems. Hence, to investigate ...the effects of the exterior signals on the efficiency, the reference regulation problem is formulated in a discrete-time system. A controller method is addressed relying on linear matrix inequality. Then, in the worst cases, finding the controller’s parameters is transformed into a minimization issue. By such an optimization, the coefficients of the compensator would be estimated. Some examples are supplied to manifest the efficiencies of the presented H∞ integral tactic over similar approaches.
•A robust H∞ controller is developed for discrete-time reference regulation.•The H∞ integral control issue is translated into an optimization one.•The controller’s coefficients are calculated from an optimization.•Both uncertainties of the system and the controller are considered in the control synthesis.
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GEOZS, IJS, IMTLJ, KILJ, KISLJ, NLZOH, NUK, OILJ, PNG, SAZU, SBCE, SBJE, UILJ, UL, UM, UPCLJ, UPUK, ZAGLJ, ZRSKP
6.
Review of fractional PID controller Shah, Pritesh; Agashe, Sudhir
Mechatronics (Oxford),
September 2016, 2016-09-00, Volume:
38
Journal Article
Peer reviewed
Fractional calculus has been studied for over three centuries, and it has multifarious applications in science and engineering. This review investigates its progress since the first reported use of ...control systems, covering the fractional PID proposed by Podlubny in 1994, and is presenting a state-of-the-art fractional PID controller, incorporating the latest contributions in this field. It highlights developments in the field of fractional PID controllers, including their design and tuning, as well as explores their various versions. Software tools associated to the design of fractional PID controllers are also discussed.
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GEOZS, IJS, IMTLJ, KILJ, KISLJ, NUK, OILJ, PNG, SAZU, SBCE, SBJE, UL, UM, UPCLJ, UPUK, ZRSKP
The power output from the wind turbine in distributed generation (DG) resources is intermittent in nature, which adversely affects the system frequency in an interconnected system. Hence, it is ...important to study the system dynamic performance when DG resources are connected to the existing power system. This study presents the load frequency control of the three-area thermal–thermal–hydro system with DG resources in area 1. Proportional integral fractional derivative (PIDμ) controller is proposed as a secondary controller. System dynamics are compared among integral, proportional integral (PI), PI derivative (PID), fractional order PID (PIλDµ) and PIDμ controllers whose parameters are optimised simultaneously using nature inspired ant lion optimiser (ALO) technique. The analysis shows the competitive performance of PIλDµ and PIDμ controllers. Furthermore, the PIDμ controller parameters are optimised using hybrid ALO-pattern search technique, which outperforms the ALO optimised PIDμ controller. A flexible AC transmission system device called gate controlled series capacitor performs better than an interline power flow controller. The studies show that the gate controlled series capacitor placed in all lines is its optimal location. The system dynamics are improved considerably with the incorporation of high voltage direct current link, the transient droop of the hydro governor. The PIDµ controller effectively handles the parametric variations, random load and wind power profiles.
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FZAB, GIS, IJS, KILJ, NLZOH, NUK, OILJ, SBCE, SBMB, UL, UM, UPUK
In this study, an extreme learning‐based non‐linear model predictive controller (NMPC) is proposed for path following planning of an autonomous underwater vehicle (AUV) using horizontal way‐points. ...The proposed controller comprises a kinematic controller and a dynamic controller. The kinematic controller is designed by using back‐stepping approach whilst the dynamic controller is designed by employing the NMPC approach. The dynamics of the AUV is identified in real‐time by employing an extreme learning machine (ELM) structure. In view of achieving improved performance of the ELM structure, its hidden layer parameters are optimally determined by applying Jaya optimisation algorithm. The resulting ELM model is then used to design a NMPC considering the constraint on rudder planes. The tracking performance of the proposed controller is compared with that of two recently reported control algorithms namely, H∞ state feedback controller and inverse optimal self‐tuning proportional–integral–derivative (PID) controller. The proposed controller is implemented using MATLAB and then in real‐time on a prototype AUV developed in the authors’ laboratory. From both the simulation and experimental results obtained, it is observed that the proposed controller exhibits superior tracking performance compared to both H∞ state feedback controller and inverse optimal self‐tuning PID controller.
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FZAB, GIS, IJS, KILJ, NLZOH, NUK, OILJ, SBCE, SBMB, UL, UM, UPUK
This paper presents a new control method to suppress current harmonics for permanent magnet synchronous linear motor (PMSLM) that is applied in the miniature microsecond laser cutting system. In the ...control method, the resonant-two-degree-of-freedom (R-2DOF) proportional-integral-derivative (PID) controller is proposed by combining a resonant controller and a two-degree-of-freedom (2DOF) PID controller. The current harmonic components are first analyzed. The resonant controller is subsequently added to the current loop in parallel to the traditional PI controller to suppress the current harmonic components. However, with the current harmonics suppression, the resonant controller can result in the overshoot in the current loop response. The 2DOF PID controller is adopted to reduce the overshoot. Thus, an R-2DOF PID controller is developed by combining the resonant controller and 2DOF PID controller. Meanwhile, the stability of the proposed controller is analyzed. Compared with the traditional PID controller and the Kalman filter, the proposed controller not only can suppress the current harmonics but can reduce the overshoot and thrust ripple as well. Finally, the simulation and experimental comparison results confirm the validity of the proposed control algorithm.
This study introduces two fractional-order proportional–integral (FOPI) controllers optimised by harmony search (HS) optimisation algorithm, for direct power control of switched reluctance generator ...(SRG) through regulating the off-delay angle of the generator. These two proposed FOPI controllers aim at improving the integration of SRG into the wind energy conversion system (WECS) through two control modes. The two control modes are maximum power point tracking during healthy operation with wind speed variation and fault ride-through capability during faulty conditions. On the basis of the voltage magnitude at the point of common coupling between the SRG and grid, each mode, and consequently, the corresponding FOPI controller is activated. Comparison between FOPI controllers and classical PI controllers optimised by HS is introduced. Simulation results show the capability of the two modes of control proposed for improving the SRG-WECS performance in both healthy and faulty operating conditions with the superiority of FOPI controller over conventional PI controllers. An experimental platform is built to show the adequacy of the proposed FOPI controller of SRG.
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FZAB, GIS, IJS, KILJ, NLZOH, NUK, OILJ, SBCE, SBMB, UL, UM, UPUK
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