ABC Algorithm Based System Modelling for Tuning the Fractional Order PID Controllers


  • Halit Senberber
  • Aytekin Bagis



Artificial bee colony algorithm, Fractional order PID, Fractional order system modelling, Fractional system design.


The effectiveness of the model structure for designing control system is highly depending on the right selection of tuning parameters belonging of the algorithms. No doubt, preferable parameter estimation leads to better results for the modelling process. This study consists of two main parts. In the first part, fractional and integer model structures with time delay are proposed for integer-order systems using artificial bee colony (ABC) algorithm and differential evolution (DE) algorithm. The second part of the study is the fractional order PID controller design based on the use of new models obtained with the help of Matlab/Simulink software package. While the integrated square error (ISE) is preferred in the modelling process as the performance criterion, four different performance indices are chosen as ISE, integral time-square error (ITSE), integral absolute error (IAE) and integral time-weighted absolute error (ITAE) during the controller design phase. It is shown that, the results obtained with fractional modelling have achieved better results than the integer order modelling. Furthermore, the controller designs for the algorithm based models proposed in the first stage of the study present a satisfactory performance.





How to Cite

Senberber, H., & Bagis, A. (2018). ABC Algorithm Based System Modelling for Tuning the Fractional Order PID Controllers. Elektronika Ir Elektrotechnika, 24(5), 3-9.