A Hybrid Tuning of PIλDμController for Second Order Process with Delay

This paper proposes a hybrid tuning rule of a fractional order PID controller (PI
^λ
D
^μ
) for a Second Order process with time delay. Out of the five tuning parameters (proportional gain (Kp), integral gain (K
_i
), derivative gain (Kd), λ,μ) of the proposed controller, the first three parameters are tuned with available tuning method. Two non-linear equations are derived from finding the non-integer order of the integral term (λ) and derivative term (μ), The proposed hybrid tuning method is compared with other existing PID tuning rules to prove the efficacy of the technique. Robustness analysis has been carried out using edge theorem. From the simulation results, it is observed that the proposed controller gives asuperiorclosed-loop performance as compared to some existing tuning methods in the literature.