The tuning of fractional order

D PI
controller
parameters based on immune clone selection
algorithm

Tian Xiao-min
Institute of Electrical & Information Engineering
Anhui University of Science & Technology
Huainan, China
tianxiaomin100@163.com
Huang You-rui
Institute of Electrical & Information Engineering
Anhui University of Science & Technology
Huainan, China


AbstractThe application technology of traditional PID controller
has been very mature, but in complex industrial production, the
controlled object often is non-linear or time-varying, traditional PID
controller often can not reach the desired effect, which introduces the
concept of fractional order

D PI controller. Fractional
order

D PI controller is a generalization of traditional PID
controller and it has the very good effect to the system that has
nonlinear and time-varying links, but the scarcity of tuning methods
of the fractional order

D PI controller is still a problem to be
resolved. This article presents a new method that tunes the
parameters of fractional order

D PI controller by using immune
clone selection algorithm and then implements simulation by using
matlab. The simulation results demonstrate that use fractional order

D PI controller can get better control effect than traditional PID
controller.
Keywords-component; fractional order

D PI controller;
immune clone selection algorithm; parameters tuning
I. INTRODUCTION
The clone selection algorithm is a learning process of fuzzy
immune system, immune system is a biological system which
can identify and eradicate alien substances and has some
characteristics such as recognition or memory antigen,
promotion or suppression antibodies, and other mechanism of
information processing. Fractional order
PI D

controller is a
generalization of traditional PID controller but it has broader
control field, classical PID controller only has a very good
control effect for nonlinear and time-varying links [1], to linear
and time-invariant links it often do not achieve the desired
effect, when we use fractional order
PI D

controller, all
problems are solved. Fractional order
PI D

controller
developed based on fractional order theory which was
introduced firstly by I.Podlubny Professor in 1999. Since
whole controller has more two adjustable parameters that are
differential and integral order, so the controller has more
flexibility in control process and we can get better control
effect [2]. In this article we compared the control effect of
fractional order
PI D

controller with traditional PID
controllers based on the immune clone algorithm by using
simulation, the results proved the effectiveness of this strategy
[3].
II. THE INTRODUCTION OF IMMUNE CLONE SELECTION
ALGORITHM
Immune clone selection algorithm (the initials is ICSA) is a
new kind of bionic intelligent algorithm and a model of the
natural immune system, The algorithm has the properties that
fast converge to the global optimization [4], which introduction
the mechanism of affinity maturation, clone and memory based
on the traditional bionic evolutionary algorithm and use the
corresponding operators guarantee itself converge to the global
optimization.
In immune algorithm, the objective function and the
constraints of practical problems as antigen, the viable
solutions of problem as antibody and the objective function
value of viable solutions as the affinity between antibody and
Antigen [5]. Immune algorithm always give priority to select
those individual who has good affinity with antigen as
descendant antibodies to achieve the aim of eradication antigen
by preserving and reproducing those antibody who has good
fitness. Clone selection in fact is the process that affinity
gradually was trained to mature, it was realized through
mutation operators and the corresponding mechanism of
population control [6].
The basic steps of immune clone selection algorithm are:
Step1: Randomly generated a initial antibodies population
Ab, the number of antibodies is N.
Step2: Determine the affinity vector f (the objective
function) of antibodies population Ab.
Step3: Select n individuals whose affinities are the highest
in population Ab to form a new population Ab
n
.
Step4: Clone population Ab
n
produced a new temporary
population C, the number of clone is monotonically increasing
function of antibodies affinity that is, the individual's affinity
the better, and the number of progeny antibodies the more.
Third International Symposium on Information Science and Engineering
978-0-7695-4360-4/10 $26.00 2010 IEEE
DOI 10.1109/ISISE.2010.23
358
Third International Symposium on Information Science and Engineering
978-0-7695-4360-4/10 $26.00 2010 IEEE
DOI 10.1109/ISISE.2010.23
358
Third International Symposium on Information Science and Engineering
978-0-7695-4360-4/10 $26.00 2010 IEEE
DOI 10.1109/ISISE.2010.23
354
Step5: Through the operations of affinity variation,
generate a mature antibodies population C', the mutation
probability is as follows:
) 1 ( } ) ( {
) , ( ) , ( Y X H L
m
Y X H
m m
p p Y x T p

= =

Where p
m
> 0 is mutation probability of antibody gene, H
(X, Y) is the Hamming distance between antibody x and y, it
also is the affinity between them:

=
=
L
i
i i
Y X Y X H
1
) , (

Step6: Determine the affinity vector f of antibodies
population C
Step7: According to f select n individuals who have the
highest affinity in C to composite Ab
n
' and placed it in the
initial antibodies population Ab.
Step8: generate m new antibodies; they compose new
antibodies population Ab
m
and replace those individuals which
have minimum affinity in population Ab; Repeat steps 2-8 until
the stop condition is met.
III. THE DESIGN OF FRACTIONAL
ORDER
PI D

CONTROLLER BASED ON IMMUNE CLONE
SELECTION ALGORITHM
Fractional order
PI D

controller (hereinafter referred to as
FOPID) is developed based on fractional order theory,
fractional calculus refers to the order of calculus is fractions or
even complex number, and is the generalization of an integer
order calculus theory [7].
About fractional order calculus there is mainly several
definitions as following [8]:
(1) Grunwal-Letnikov definition:

[ ]
0
0
( ) lim ( 1) ( )
t a
h
j
a t
h
j
D f t h f t jh
j

=
| |
=
|
\ .

(1)
Where [ ] - is a truncation;
j
| |
|
\ .
is binomial coefficients.
(2) Riemann-Liouville definition:
1
1 ( )
( )
( ) ( )
t n
a
a t n n
a
d f
D f t d
n a dt t

+
=
I
}
(2)
Where 1 n n < < ; ( ) I - is Euler Gamma function.
(3) Caputo definition
( )
1
1 ( )
( ) ( 1 )
( ) ( )
t n
a t n
a
f
D f t d n n
n a t

+
= < <
I
}
(3)
The above definition,
a t
D

called fractional order calculus

operator, it is defined as follows [9]:
, Re( ) 0
1, Re( ) 0
( ) , Re( ) 0
a t
t
a
d
dt
D
d

>

= =

<

}
(4)
Due to fractional order PID controller has five parameters,
the general principle is to determine the range of differential
order and integral order firstly and then to adjust other three
parameters by using immune clone selection algorithm. The
block diagram of fractional order
PI D

controller based on
immune clone selection algorithm shown in the following
figure:

D PI

Figure 1. The structure of fractional order PI D

controller based on immune
clone selection algorithm
Evaluation link is the optimization function which use input
variables, output variables, and intermediate variables to
calculate affinity, the link has different evaluation function
with different requires of the control system and it has close
relation with hardware in the actual control, so here it as a
separate link out of consideration.
The gene of antibodies composed by five parameters of
fractional order PI D

controller, that is Ab=(kp, ki, kd, , ),
antibodies use real coding made up for the shortcoming that
continuous function has poor impression by using binary
coding and improve the complexity of calculation.
The optimization function of fractional
order PI D

controller is antigen, in order to obtain a
satisfactory dynamic performance indicators we use error
absolute time integral performance index as a parameter to
choose the target function; In order to prevent the energy of
control is too large, so we add the square of input variable to
target function; In order to avoid overshooting we can use the
function of punish, that is, once the overshoot was produced it
as an indicator of optimized performance.
We can obtain:
u y
t dt t e dt t u t e
3
0
4
2
2 1
) | ) ( | ) ( | ) ( | ( J + + + =
}

Where ) (t e
y
is overshoot, the weight meet:
1 4
>> .
In this article we give the controller which is the classic
incremental digital fractional order controller, its algorithm is:
( ) ( 1) ( ) u k u k u k = + A (5)
359 359 355
The transfer function of fractional order

D PI controller is:
0 0
( ) ( ) ( ) ( )
k k
p i j d j
j j
u k k e k k ts q e k j k ts d e k j

= =
= + +

(6)
Where ts is the step of sampling time; q
j
and d
j
are binomial
coefficients, which value respectively are:
0
1 q = ,
1
1
(1 )
j j
q q
j

+
=
;
0
1 d = ,
1
1
(1 )
j j
d d
j

=
.
We also have:
1
0
1
0
( 1) ( 1) ( 1 )
( 1 )
k
p i j
j
k
d j
j
u k k e k k ts q e k j
k ts d e k j

=
= + +

1
0 0
( ) ( 1 )
k k
j j
j j
q e k j q e k j

= =



0 1 2
[ ( ) ( 1) ( 2) ... (0)]
k
q e k qe k q e k q e = + + + +
0 1 2 1
[ ( 1) ( 2) ( 3) ... (0)]
k
q e k q e k q e k q e

+ + + +
1 0 2 1
1
( ) [( ) ( 1) ( ) ( 2)
... ( ) (0)]
k k
e k q q e k q q e k
q q e

= + +
+

1
1
1
( ) ( )
k
j
j
e k q e k j
j

=
+
=

Similarly
1
0 0
1
1
( ) ( 1 )
1
( ) ( )
k k
j j
j j
k
j
j
d e k j d e k j
e k d e k j
j

= =

Then: ( ) ( ) ( 1) u k u k u k A =
1 1
1
( ) ( ) ( )
1 1
[ ] ( )
p i d
k
i j d j
j
k e k k ts k ts e k
k ts q k ts d e k j
j j

=
= A + +
+
+

Make
a i d
k k t s k t s

= +
1 1
1 1
[ ]
j i j d j
k k ts q k ts d
j j




+
= +

Then we obtained:
1
( ) ( ) ( ) ( )
k
p a j
j
u k k e k k e k k e k j
=
A = A + +

The steps of design fractional order

PI D controller based
on ICSA implementation are as follows:
Step 1: Initialize all parameters value and the range of value
of five parameters of fractional order

PI D
controller.
Step 2: Randomly generated a initial antibody groups the
number is N, using real-coded program.
Step 3: Calculate the affinity between antibody and antigen,
on the basis of affinity to clone the best individual, and
generate a temporary groups C which include two parts are b-
cell antibody and memory cell.
Step 4: Calculate again the affinity of those antibodies that
have high affinity in memory cell antibodies after operation of
clone, copy and mutation. The corresponding higher affinity
replaces originally smaller affinity.
Step 5: update groups, some antibodies of memory cells
replace ones of b-cell antibodies, the individual that have lower
affinity will automatic extinction.
Step 6: evaluation new antibodies groups if they do not
meet the request of termination go to step 2 or else end.
IV. THE EXAMPLE OF SIMULATION
The controlled object's approximate mathematical model is:
s s 50
400
2
+
, input signal rin is step signal, the sampling time is
0.1s,the number of sample is 60 times, the probability of
mutation is pm = 0.1, the iterations is 60
times.
1
=0.999,
2
=0.001,
3
=2.0,
4
=100. The simulation
results as shown in figure 2 and figure 3:
0 0.05 0.1 0.15 0.2 0.25 0.3 0.35 0.4 0.45 0.5
0
0.2
0.4
0.6
0.8
1
1.2
1.4
Time(s)
r
in
,
y
o
u
t

Figure 2. Step response of the system with no controller

0 0.1 0.2 0.3 0.4 0.5 0.6 0.7 0.8 0.9 1
0
0.2
0.4
0.6
0.8
1
1.2
1.4
Time(s)
r
in
,
y
o
u
t


FOPID
PID

Figure 3. Step response of fractional order

D PI controller & traditional
PID controller
From figure 2 we can see step response of system that
without controller control has big overshoot, obvious
360 360 356
oscillation and long rise time, the robustness of this system is
very poor. The step response curves that under the control of
fractional order

D PI
controller (FOPID) and traditional PID
controller (PID) is shown in figure 3. As can be seen from the
figure 3 the rise time of fractional order

D PI
is obvious
shorter than traditional PID controller, the former can achieve
the desired effect by high speed.
V. CONCLUSIONS
Fractional calculus theory break the confine of traditional
integer order calculus theory, the order of differential or
integral controller can be fractions, it expand the range of
integer order calculus theory application. Use fractional
order

D PI controller we can often obtain better effect than
other controller, fractional order

D PI control has become a
new hot spot for control field study in recent years, with mature
and develop of fractional order control theory , it is bound to
have significant to traditional control theory.
ACKNOWLEDGMENT
The work is supported by the National Natural Science
Foundation of China (61073101).
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