An optimal PID controller design for FOPD process based on internal model control

Considering the difficulties in the tuning of PID parameters to obtain a well performance by using conventional tuning formulas,a PID parameters tuning approach based on internal model control(IMC) was proposed.In order to obtain an optimal performance,ant colony optimization(ACO) method was used to optimize the parameter of the controller.In addition,a model reduction method was introduced,the method is easy to compute and have a good precision.Compare with some well-known PID tuning formulas,it was observed that the proposed method has more flexibility and optimal performance can be obtained under special criteria.The effectiveness and feasibility of the proposed method are verified through Matlab simulation results.