Robust 2-DOF FOPID Controller Design for Maglev System Using Jaya Algorithm

Abstract

In this paper, 1-Degree of Freedom (1-DOF) and 2-Degree of Freedom (2-DOF) Integer Order (IO) and Fractional Order (FO) Proportional–Integral–Derivative (PID) Controller has been designed for the Magnetic Levitation (Maglev) system. Maglev is one of the most versatile research-oriented laboratory instruments in the field of control systems engineering. The controller for the Maglev system is designed in such a way that a ferromagnetic ball can precisely levitate in a controlled electromagnetic field with particular design specifications. The controller parameters can be appropriately identified by optimizing the objective function with various popular artificial intelligence based evolutionary optimization algorithms. The 2-DOF controller structure takes care of both reference signal tracking and disturbance rejection through the feedback path. The 1 and 2-DOF controller structures with both Integer as well as Fractional Order approaches for different nonlinear systems were already discussed in various papers. However, the application of the Fractional Order control technique on a highly nonlinear Maglev system using the Genetic Algorithm (GA), Particle Swarm Optimization (PSO), Hybrid Particle Swarm Optimization (Hybrid PSO), and recently developed Jaya Algorithm is of our interest. Observation of the final analysis based on different simulation results states that as the controller structure moves from 1-DOF to 2-DOF, the performance of the system and the control signal gets improved. The robustness analysis has also been incorporated in this study which shows that the 1 and 2-DOF IOPID and FOPID controllers designed using different optimization algorithms for the Maglev plant are robust in nature.

KEYWORDS:

• Degree of freedom
• FOPID controller
• Genetic algorithm
• Hybrid particle swarm optimization
• IOPID controller
• Jaya algorithm
• Magnetic levitation (Maglev) system
• Particle swarm optimization
• PID controller

ACKNOWLEDGEMENTS

The authors would like to heartily thank the anonymous referees for their constructive review comments, which led to definite improvements in the quality of the manuscript.

ORCID

Debdoot Sain http://orcid.org/0000-0003-0779-5101 Subrat Kumar Swain http://orcid.org/0000-0002-9223-2401 Tapas Kumar http://orcid.org/0000-0002-4798-4970 Sudhansu Kumar Mishra http://orcid.org/0000-0003-1733-8270http://orcid.org/0000-0003-1733-8270

Additional information

Notes on contributors

Debdoot Sain

Debdoot Sain was born in West Bengal (India) in the year 1991. He received the BTech degree in electronics and communication engineering in 2012 from West Bengal University of Technology, Kolkata. In 2016, he has completed master of engineering in electrical engineering from Birla Institute of Technology, Mesra with control system specialization. He is currently pursuing PhD in the Department of Electrical Engineering, Indian Institute of Technology, Kharagpur with control system specialization. His research interest includes linear and nonlinear control systems, integer and fractional order controller design, soft computing based controller design. Corresponding author. E-mail: [email protected]

Subrat Kumar Swain

Subrat Kumar Swain was born in Odisha, India, in 1983. He received BTech degree in electrical engineering from College of Engineering and Technology, Bhubaneswar, India in 2005. He received his Dual MS degree in electrical engineering and computer engineering from Wayne State University and Arizona State University, USA in 2009 and 2013 respectively. He is serving as an Assistant Professor in the Department of Electrical & Electronics Engineering, Birla Institute of Technology, Mesra, India. He has published numbers of research papers in National/International Conferences and Journals. He has a total experience of 2.5 years in teaching and research. His research interest includes nonlinear control systems, power electronics, soft and evolutionary computing, multi-objective optimization. E-mail: [email protected]

Tapas Kumar

Tapas Kumar was born in Jharkhand, India, in 1991. He received his BTech degree in electrical engineering from BIT Sindri, Dhanbad, India in 2014 and diploma in electronics & communication engineering from Al-Kabir Polytechnic, Jamshedpur, India in 2011. In 2017, he has completed master of engineering in electrical engineering from Birla Institute of Technology, Mesra with control system specialization. He is presently working as an Assistant Professor in the Department of Electrical & Electronics Engineering, Cambridge Institute of Technology, Ranchi, India. His research interest includes nonlinear control systems, soft and evolutionary computing and industrial automation. E-mail: [email protected]

Sudhansu Kumar Mishra

Sudhansu Kumar Mishra was born in Odisha, India, in 1979. He received BE degree in electrical engineering from Bhadrak Institute of Engineering & Technology, Odisha, India in 2001. He received his ME and PhD degrees in electronics & communication engineering from National Institute of Technology, Rourkela, India in 2005 and 2012 respectively. He is presently working as an Assistant Professor in the Department of Electrical & Electronics Engineering, Birla Institute of Technology, Mesra, India. He has published numbers of research papers in National/International Conferences and Journals. He is a life member of IETE, India. He has a total experience of 7 years in teaching and four years of research. His research interest includes adaptive signal processing, soft and evolutionary computing, multiobjective optimization, computational finance. E-mail: [email protected]