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Multi-objective LQR with Optimum Weight Selection to Design FOPID Controllers for Delayed Fractional Order Processes

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Figure

Figure 1: The feedback control system comprising of a NIOPTD plant and PI λ D µ  controller
Figure 2: Open loop step response and Bode magnitude diagram of NIOPTD plant (7) with K=1,  L=0.5, T=2 with change in α, exhibiting sluggish and oscillatory dynamics
Figure 3 shows the obtained Pareto fronts for the NIOPTD process using both Cai’s method [50] and  He’s method [5]
Figure 4: Time response, controller output and state trajectories of oscillatory NIOPTD plant (21)  with LQR based FOPID controller for solution A 1
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