Title: Adaptive multi-loop IMC-based PID controller tuning using bat optimisation algorithm for two interacting conical tank process
Authors: S.K. Lakshmanaprabu; U. Sabura Banu
Addresses: B.S. Abdur Rahman University, Vandalur, Chennai-600048, Tamil Nadu, India ' B.S. Abdur Rahman University, Vandalur, Chennai-600048, Tamil Nadu, India
Abstract: In this paper, multi-loop adaptive internal model controller (IMC)-based PID is designed for the two interacting conical tank level process (TICTLP). The nonlinear TICTLP is decomposed into linear transfer function matrix around the operating points and the effective open loop transfer function (EOTF) is developed using simplified decoupler. The IMC-based PID controller parameters are obtained for EOTF model using bat optimisation algorithm (BOA). A weighted sum of integral time absolute error is used as control design objective function for multi-loop IMC-PID design which yields faster settling time with minimum over shoot. The fuzzy-based adaptive gain scheduling is used to provide complete control to TICTLP and fuzzy-based adaptive decoupler is implemented to eliminate the dynamic interaction between control loops. The simulation results of proposed controller are compared with conventional ZN-PID, IMC controllers to show the superiority of proposed controller. The simulation response of proposed controller indicates the performance improvement control schemes interns of time domain performance indices, servo tracking, regulatory response and faster settling time.
Keywords: conical tank process; effective open loop transfer function; EOTF; adaptive decoupler; multi-loop IMC control; IMC-PID; relative gain array; RGA; fuzzy gain scheduling; FGS; bat optimisation algorithm; BOA.
International Journal of Advanced Intelligence Paradigms, 2019 Vol.13 No.3/4, pp.263 - 287
Received: 21 Nov 2016
Accepted: 20 Dec 2016
Published online: 28 Aug 2019 *