Real time implementation of multivariable centralised FOPID controller for TITO process

Abstract

The development and real time implementation of multivariable centralised FOPID (MC-FOPID) controllers for two interacting frustum conical tank level process (TICFTLP) is presented. The modelling and control of TICFTLP is difficult due to its dynamic coupling between inputs and outputs. The black box model is developed from the open loop experimental data using process reaction curve (PRC) method. The multivariable centralised FOPID (MC-FOPID) controller with five tuning parameters is designed based on the steady state gain matrix of the process and then the controller parameters are tuned using bat optimisation algorithm. The comparison of proposed MC-FOPID controller with multiloop PID controller is demonstrated in the simulation study. The simulation results of the controllers are compared in terms of settling time and integral error criteria. It is found that the MC-FOPID controller has better servo and regulatory response than multiloop PID control. The real time implementation of MC-FOPID is done in MATLAB/SIMULINK using USB-based DAQ module.