Comparison of Optimal Integer and Fractional Order PID Controllers on a Stabilized Real-Time System

Keçeci E., Yumuk E., Güzelkaya M., Eksin İ.

11th International Conference on Electrical and Electronics Engineering (ELECO), Bursa, Turkey, 28 - 30 November 2019, pp.754-758 identifier identifier

  • Publication Type: Conference Paper / Full Text
  • Volume:
  • Doi Number: 10.23919/eleco47770.2019.8990408
  • City: Bursa
  • Country: Turkey
  • Page Numbers: pp.754-758
  • Istanbul Technical University Affiliated: Yes


In this paper, optimal fractional and integer order PID controllers are compared on a stabilized Ball Balancing Table system. The real-time system is restricted on Y-axis and stabilized by using PV controller. Firstly, fractional and integer order system models are obtained from stabilized real-time system. Then, Big Bang-Big Crunch optimization algorithm is used to design optimal fractional and integer order PID controller with ISE performance index as a cost function. In order to avoid from system aggressiveness and high control signal values, maximum sensitivity constraint is utilized. Finally, the performance of the control systems are analyzed via simulations and real-time system applications.