Performance evaluation of anti-windup FOC with set-point tracking

This paper presents an analysis of fractional order PID (FOPID) controller for first order system model with and without time delays. The proposed strategy can be viewed as replacement of integer order integrator with a fractional integrator when anti-windup scheme is used which removes the reset windup resulting in reduced set point change. In order to have satisfactory parameter´s tuning of the fractional order controller (FOC), an iterative optimization method has been used which is based on minimization of a quadratic cost function. This cost function is defined as weighted sum of squares of control input which moves and sum of the integral squared error (ISE) between the time response of the reference model and the fractional system with FO-PID controller. The resulting closed-loop system shown exhibits features of robustness to process gain variations and also the step response with good damping. Simulation results have been presented with analysis that illustrates the effectiveness of proposed algorithm.