Design and implementation of smith predictor based fractional order PID controller on MIMO flow-level plant

The main point of this paper is to present an iterative optimization strategy for tuning the parameters of Smith predictor based fractional order PID (SPFOPID) controller. The control scheme considered in this paper is the standard Smith predictor structure. Also, the internal model is considered to be a First Order Plus Dead Time (FOPDT) transfer function. Finally, the proposed method is implemented on a multi input-multi output (MIMO) flow-level plant and the obtained results are compared with the results of applying Smith predictor based PID controller (SPPID) in the similar structure.