Design and experimental study of fuzzy PIλDμ with error filter

Fractional-order PID (FOPID) control is currently an emerging topic in control engineering research. The controller was proven to perform better than the integer-order controller because of the generalization in the integrator and differentiator power. But lately, the application has been widened into non-PID type controllers including fuzzy rules application. The application of fuzzy can accommodate the tuning of PID gain for a non-linear process such as steam temperature. This study initiates the design of self-tuning fuzzy for FOPID controller that will automatically select the PID gains while the fractional-order was fixed. The proposed technique, named fuzzy FOPID was compared with the fuzzy PID for set point change and load disturbance test. The fuzzy FOPID controller was further improved by applying an error filter to the integrator to minimize overshoot and dampened fluctuations around the set point. The proposed fuzzy FOPID with error filter was proven to provide better control with less error index and control effort measured by Integral of Squared Error and Integral of Control signal.