A novel model algorithmic controller with fractional order PID structure

In this paper, a novel MAC controller with fractional order PID structure (called FOPID-MAC) is proposed, which combined with the advantages of both fractional order PID and MAC. By introducing steady-state error weighted items into predictive control performance index in a broad sense, the predictive control algorithm is rebuilt according to fractional order PID control. The integral λ and derivative μ orders of FOPID-MAC controller improve the design flexibility of MAC. Moreover, the influence of the integral λ and derivative μ orders on system performance is analyzed in time domain. The results of simulation with two illustrative examples (including EPA) show validity and good performances of the proposed FOPID-MAC controller, which grounds well for engineering application.