Many processes in the industry can be modeled as fractional order, research on the fractional order become more and more popular. Usually, controllers such as fractional order PID (FOPID) or fractional active disturbance rejection control (FADRC) are used to control single-input-single-output (SISO) fractional order system. However, when it comes to fractional order two-input-two-output (TITO) processes, few research focus on this. In this paper, a new design method for fractional order control based on multivariable non-internal model control with inverted decoupling is proposed to handle non-integer order two-input-two-output system. The controller proposed in this paper just has two parameters to tune compared with the five parameters of the FOPID controller, and the controller structure can be achieved by internal model control (IMC) method which means it is easy to implement. The parameters tuning method used in this paper is based on frequency domain strategy. Compared with integer order situation, fractional order method is more complex, because the calculation of the frequency domain characteristics is difficult. The controller proposed in this paper is robust to process gain variations, what’s more, it provides ideal performance for both set point-tracking and disturbance rejection. Numerical results are given to show the performance of the proposed controller.
Design of internal model control-proportional integral derivative controller with improved filter for disturbance rejection
