Investigation on superior performance by fractional controller for cart-servo laboratory set-up

Abstract

In this paper, an investigation is made on the superiority of fractional PID controller (PI^alpha D^beta) over conventional PID for the cart-servo laboratory set-up. The designed controllers are optimum in the sense of Integral Absolute Error (IAE) and Integral Square Error (ISE). The paper contributes in three aspects: 1) Acquiring nonlinear mathematical model for the cart-servo laboratory set-up, 2) Designing fractional and integer order PID for minimizing IAE, ISE, 3) Analyzing the performance of designed controllers for simulated plant model as well as real plant. The results show a significantly superior performance by PI^alpha D^beta as compared to the conventional PID controller.