Design of fractional order PID controller using Sobol Mutated Artificial Bee Colony alogrithm

Now-a-days fractional order controllers are replacing integer order controllers in various applications due to their robust mechanism in enhancing the system performance. The only complexity using fractional order controllers is to determine the gain parameters, followed by integral and derivative constant. This article describes the design of Fractional-Order Proportional-Integral-Derivative (FOPID) controller using a newly developed variant of ABC known as Sobol Mutated Artificial Bee Colony (S-ABC). The mutation component of S-ABC is based on quasi random Sobol sequence. Controller synthesis is obtained by minimizing Integral Time Absolute Error (ITAE) criterion. In order to digitally realize the FOPID controller Tustin operator based continuous fraction approximation (CFE) method is used. Simulation results for some real life plants and comparison with other state of art optimization techniques over same problems demonstrate the superiority of proposed approach.