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Model Reference Based Tuning for Fractional-Order 2DoF PI Controllers with a Robustness Consideration

机译：考虑稳健性的分数阶2DoF PI控制器的基于模型参考的调整

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The paper proposes the tuning of a two-degree-of-freedom (2-DoF) fractional-order PI (FOPI2) controller based on the Model Reference Robust Tuning (MoReRT) methodology presented by Alfaro and Vilanova (2012, 2016). The tuning rules are optimized for a first order plus dead time (FOPDT) model and for an over-damped servo and regulatory closed-loop target responses. Moreover, the design takes into account a robustness consideration, expressed as a maximum sensitivity target value of 2.0, dealing with the performance/robustness trade-off of the closed-loop control system. A set of controller tuning equations (four parameters) is provided for FOPDT models with normalized dead-times from 0.1 to 2.0. Also, an evaluation of the control system performance and robustness is presented, in order to show the effectiveness of the proposed tuning method, that is compared with other tuning rules.
机译：本文基于Alfaro和Vilanova（2012，2016）提出的模型参考鲁棒调整（MoReRT）方法，提出了对两自由度（2-DoF）分数阶PI（FOPI2）控制器的调整。针对一阶加死区时间（FOPDT）模型以及针对过度阻尼的伺服和调节性闭环目标响应，优化了调整规则。此外，该设计考虑了鲁棒性，以最大灵敏度目标值2.0表示，处理了闭环控制系统的性能/鲁棒性折衷。为FOPDT模型提供了一组控制器调整方程（四个参数），其标准化死区时间为0.1到2.0。另外，对控制系统的性能和鲁棒性进行了评估，以显示所提出的调整方法的有效性，并将其与其他调整规则进行比较。

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