Experimental Validation of Fractional PID Controllers Applied to a Two-Tank System

Felipe de J. Sorcia-Vázquez, Jesse Y. Rumbo-Morales, Jorge A. Brizuela-Mendoza, Gerardo Ortiz-Torres, Estela Sarmiento-Bustos (), Alan F. Pérez-Vidal, Erasmo M. Rentería-Vargas, Miguel De-la-Torre and René Osorio-Sánchez
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Felipe de J. Sorcia-Vázquez: Computer Science and Engineering Department, University of Guadalajara, Ameca 46600, Mexico
Jesse Y. Rumbo-Morales: Computer Science and Engineering Department, University of Guadalajara, Ameca 46600, Mexico
Jorge A. Brizuela-Mendoza: Exact Sciences and Methodologies Department, University of Guadalajara, Ciudad Guzmán 49000, Mexico
Gerardo Ortiz-Torres: Computer Science and Engineering Department, University of Guadalajara, Ameca 46600, Mexico
Estela Sarmiento-Bustos: Academic Division of Industrial Mechanics, Emiliano Zapata Technological University of the State of Morelos, Emiliano Zapata 62760, Mexico
Alan F. Pérez-Vidal: Computer Science and Engineering Department, University of Guadalajara, Ameca 46600, Mexico
Erasmo M. Rentería-Vargas: Computer Science and Engineering Department, University of Guadalajara, Ameca 46600, Mexico
Miguel De-la-Torre: Computer Science and Engineering Department, University of Guadalajara, Ameca 46600, Mexico
René Osorio-Sánchez: Computer Science and Engineering Department, University of Guadalajara, Ameca 46600, Mexico

Mathematics, 2023, vol. 11, issue 12, 1-17

Abstract: An experimental validation of fractional-order PID (FOPID) controllers, which were applied to a two coupled tanks system, is presented in this article. Two FOPID controllers, a continuous FOPID (cFOPID) and a discrete FOPID (dFOPID), were implemented in real-time. The gains tuning process was accomplished by applying genetic algorithms while considering the cost function with respect to the tracking error and control effort. The gains optimization process was performed directly to the two-tanks non-linear model. The real-time implementation used a National Instruments PCIe-6321 card as a data acquisition system; for the interface, we used a Simulink Matlab and Simulink Desktop Real-Time Toolbox. The performance of the fractional controllers was compared with the performance of classical PID controllers.

Keywords: fractional PID control; coupled tanks system; real-time control (search for similar items in EconPapers)
JEL-codes: C (search for similar items in EconPapers)
Date: 2023
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