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Optimum Design of Fractional Order PID for MIMO and SISO Systems Using Particle Swarm Optimization Techniques

In this paper, a novel design approach for determination of the optimal fractional order PID (FOPID) controllers, using the particle swarm optimization (PSO) method is presented. Fractional calculus can provides good performance and robustness for FOPID controllers in comparison with the conventional PID and even other types of classical controllers, because of the arbitrary order of fractional calculus presented in this scheme. This paper demonstrates in details how to employ the PSO method to search efficiently for the optimal FOPID controller parameters in SISO and MIMO systems. The proposed approach is applied to an electromagnetic suspension system as an example to illustrate the design procedure and verify the performance of the proposed controller.