Controller Design Based on Fractional Filter with IMC-PID: Application to Servo System and Single Area Power System

The Proportional-Integral-Derivative (PID) controller tuned by Internal-Model-Control (IMC) is extensively used in industrial control applications. This methodology offers an excellent trade-off between the setpoint tracking and disturbance rejections, and also provides better robustness. In this paper, we suggest a simple and straightforward approach for designing IMC based PID controller with a fractional filter for electrical engineering applications. Due to the use of a fractional order filter, the flexibility of tuning the parameters is increased. To verify the suggested method's utility, simulation analysis has been done for the mathematical model of a rotational DC servo system (QUBETM-Servo 2) and single area power system (SAPS). The approach for controller design depicts proper set-point tracking and better disturbance rejections. The performance analysis of the controller which has been designed for the applications has been done based on the integral of error
$(IE_{E})$
, integral square error
$(ISE_{E})$
, integral absolute error
$(IAE_{E})$
, and control efforts (CE). Finally, the robustness analysis has been done for a +50% change in the gain of the process.