Optimal 2-DOF Fractional l μ PI D controllers for Time Delay Systems Based on Genetic Algorithm

In this paper a new method to design fractional order proportional-integral-derivative ( l μ PI D ) controllers for time delay systems is presented. l μ PI D controllers’ parameters are composed of the proportionality constant, integral constant, derivative constant, derivative order and integral order, and its design is more complex than that of conventional integer-order proportional–integral–derivative (PID) controller. Genetic Algorithm (GA) is employed to obtain optimal parameters of a two-degree-of-freedom (2-DOF) l μ PI D controller. In this paper the objective is to track the input reference signal in presence of disturbance. Simulation results demonstrate the superiority of the proposed fractional order controller to conventional integer order controllers.