Fractional-order PIλDμ controller for position control of intelligent pneumatic actuator (IPA) system

Abstract

The pneumatic actuator system has difficulties controlling the position of its stroke due to the existed internal nonlinearities characteristics. This paper proposes a design and application of a Fractional Order PID Controller as a novel method to overcome this controlling position. The third-order Auto-Regressive Exogenous Input (ARX) scheme is utilized to identify the mathematical model of the Intelligent Pneumatic Actuator (IPA). Position control using PID Fractional-Order PIλDμ will be validated with conventional PID controller in terms of Steady State Error (Ess), Percentage of Overshoot (%Os), Settling Time (Ts), and Rise Time (Tr). The simulation, carried out in a MATLAB/Simulink platform, demonstrated that the proposed strategy was feasible and efficiently achieves the better performance compared to the classical PID controller.