Selection of Tuning Parameter Ranges for PID Controller Design of MIMO Systems Using ETF Techniques

Abstract

In this paper, a scheme is proposed for selecting the bounds of controller parameters required for tuning proportional integral and derivative controllers for linear time-invariant multi input multi output (MIMO) systems. In an evolutionary optimization algorithm, the judicious selection of the tuning range of proportional integral and derivative controller parameters is of primary consideration for the algorithm to work efficiently. The proposed scheme is used with the Effective Transfer Functions model of the MIMO plant under consideration. It unifies the decoupling technique applicable to both unstable and stable MIMO systems. The procedure for selecting an optimum range of the controller parameters has been tested using Particle Swarm Optimization and Harmony Search techniques. Simulation results exhibit the effectiveness of the proposed method for the selection of parameter ranges for the controller. The results show significant reductions in peak overshoot and settling time. The drop in Integral square error values computed in the present scheme is 6–19% compared to those reported in published literature, which establishes the potent of the proposed method. The efficacy of the technique has been tested on a MIMO plant in LabVIEW® based hardware platform.

KEYWORDS:

• Bounds of parameter for MIMO
• Decoupling control
• Effective Open Loop Transfer Function (EOTF)
• Effective transfer function
• Harmony search (HS)
• MIMO control systems
• Particle Swarm Optimization (PSO)

Additional information

Notes on contributors

Neelbrata Roy

Neelbrata Roy obtained his BTech in electrical engineering from B P U T, Orissa and ME in electrical engineering from BIT Mesra, Ranchi in 2010 and 2013, respectively. He served as Asst Prof in BACET, Jamshedpur, from 2013–2016, respectively. Presently, he is a research scholar in the Department of Electrical Engineering at IIEST, Shibpur. His area of interest includes control system design, process control, and application of evolutionary optimization techniques in process control systems.

Anindita Sengupta

Anindita Sengupta did her BTech in the year 1993, MTech in 1995, and PhD in 2006 from the Dept of Applied Physics, University of Calcutta. Presently, she is a professor in the Department of Elect Engg, IIEST, Shibpur. Her area of interest includes automatic control in general, the application of “orthogonal functions” in system and control, industrial instrumentation and process control, signal processing and image processing. She is also a Fellow of The Institution of Engineers (India) and a Member of IEEE, USA. Email: [email protected]

Ashoke Sutradhar

Ashoke Sutradhar obtained his bachelor's and master's degrees in electrical engineering from Jadavpur University, Kolkata, India in 1983 and 1985, respectively. He was awarded PhD (Engg) from BE College (DU), Howrah, India, in 2003. Presently, he is a professor in Department of Elect. Engg, IIEST, Shibpur. Prof. Sutradhar is a Life Fellow of The Institution of Engineers (India) and a Member of IEEE Control Systems Society and IEEE Engineering in Medicine and Biology Society. His research areas are modelling and control of physiological processes, artificial pancreas, haemodynamic control, vehicle dynamics and suspension systems, robust control of multivariable systems, multi-objective control, and embedded systems. Email: [email protected]