Ain Shams Engineering Journal (2014) xxx, xxxxxx

Ain Shams University

Ain Shams Engineering Journal

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ELECTRICAL ENGINEERING

Regression model for tuning the PID

controller with fractional order time delay system
S.P. Agnihotri *, Laxman Madhavrao Waghmare
SGGS Institute of Engineering and Technology, Vishnupuri, Nanded, India
Received 5 September 2013; revised 7 April 2014; accepted 16 April 2014

KEYWORDS
Regression model;
PID controller;
Iterative algorithm;
Fractional order;
Time delay and system

Abstract In this paper a regression model based for tuning proportional integral derivative (PID)
controller with fractional order time delay system is proposed. The novelty of this paper is that tuning parameters of the fractional order time delay system are optimally predicted using the regression
model. In the proposed method, the output parameters of the fractional order system are used to
derive the regression function. Here, the regression model depends on the weights of the exponential
function. By using the iterative algorithm, the best weight of the regression model is evaluated.
Using the regression technique, fractional order time delay systems are tuned and the stability
parameters of the system are maintained. The effectiveness and feasibility of the proposed technique
is demonstrated through the MATLAB/Simulink platform, as well as testing and comparison using
the classical PID controller, ZieglerNichols tuning method, Wang tuning method and curve tting
technique base tuning method.
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1. Introduction
In different regions, Time-Delay Systems (TDS) encounter
along with engineering, the eld of biology, and also economics [1,2]. A time delay is usually a footing regarding unsteadiness and also uctuations within a process [3]. Two sorts of
time delay devices are there as follows: retarded and also fairly
neutral [4]. Throughout TDS, wherever time-delays existing
between the features regarding input on the process and
also the ensuing result, could be suggested simply by delay
* Corresponding author. Tel.: +91 7588306244.
E-mail address: agnihotri0177@gmail.com (S.P. Agnihotri).
Peer review under responsibility of Ain Shams University.

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differential equations (DDEs) [5]. Programs along with delays

reveal any category in inexhaustible dimensions mostly
requested the actual modeling as well as the research regarding
transportation and also propagation phenomena [6]. Timedelays on top of things loops normally mortify process display
and confuse case study and also strategy regarding feedback
controllers [7].
The actual solidity of time-delay methods is often a problem of chronic interest due to a number of functions of communication systems in the eld of biology in addition to
population dynamics [8]. Generally, solidity review of timedelay methods could be classied straight into two varieties.
First is the particular delay-dependent stability review which
often contains the data in the length of the particular delay,
and one much more is the delay-independent stability review
[9,10]. The actual delay independent stabilization comes with
a controller which will temporarily relieve the system in spite
of the length of the particular delay [11]. However, the delay

2090-4479 2014 Production and hosting by Elsevier B.V. on behalf of Ain Shams University.
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Please cite this article in press as: Agnihotri SP, Waghmare LM, Regression model for tuning the PID controller with fractional order time delay
system, Ain Shams Eng J (2014), http://dx.doi.org/10.1016/j.asej.2014.04.007

2
centered stabilizing controller can be worried using the size of
the delay in addition to routinely provide the upper bound of
the delay [12].
Dead time is probably the motivated presentation in addition to rmness involving time-delay devices [13]. Time delay
continually subsists inside the measurement loop or control
loop, and therefore it is much more challenging to overpower
this sort of method [14]. In order to enhance the control presentation, a few novel control techniques, like predictive control and the neural type of an articial neutral delay in a
control loop were used [4]. The PID controller is used in an
extensive number of difculties like automotive, instrumentation, motor drives and so forth. [15]. This specic controller
gifts feedback, the idea will be able to take out steady-state
offsets by means of hooked up actions, and also it can certainly
wait for the extracted actions [16]. Due to the simplicity of the
structure and potential to solve many control problems of
the system [17]. PID controller offers sturdy and trustworthy
demonstration pertaining to most of the devices in the event
the PID boundaries tend to be adjusted surely [15]. Many
delay-independent sufcient conditions for the asymptotic
steadiness involving basic delay differential devices are used
[18].
As, this long-established PID compensator seemed to be
requested this monitoring and stabilization of the loops
design technique [19], considering that the conventional PID
controllers are not appropriate for nonlinear programs and
higher-ordered and time-delayed programs [20]. Below, this
stabilizing PID controller may reduce the working out occasion also it keeps away from this time-consuming stableness
examination [21] plus the reports of the PID controllers
awfully be determined by the complete understanding of the
system time delay [6].
Within this report, the regression model based proposed for
tuning proportional integral derivative (PID) controller along
with fractional order time delay system will be recommended.
This novelty in this report will be which tuning parameters
with the fractional order time period delay process will be optimally expected when using the regression model. Within the
recommended method, this output parameter of the fractional
order system is utilized to help derive this regression model situation. In this paper, this regression model depends on the
loads with the exponential function. With the iterative criteria,
the most benecial weight to the regression model is decided.
With all the regression process, fractional order time delay
system will be tuned plus the stability parameters with the process will be managed. This detailed justication with the recommended hybrid process will be illustrated inside area 3.
Previous those, the recent research works are described in
Section 2. The outcomes in addition to discussion referred in
Sections 4 and 5 end this report.
2. Recent research works: a brief review
Several associated works are previously accessible to the literature which based on PID controller design for time delay
fractional order system. A few of them are assessed here. A
technique to compute the entire set of stabilizing PID controller parameters for a random (including unstable) linear time
delay system has been offered by Hohenbichler [22]. To handle
the countless number of stability boundaries in the plane for a

S.P. Agnihotri, L.M. Waghmare

permanent proportional gain kp was the most important contribution. It was illustrated that the steady area of the plane
contains convex polygons for retarded open loops. A phenomenon was initiated concerning neutral loops. For denite systems and certain kp, the precise, steady area in the plane
could be explained by the limit of a sequence of polygons with
an endless number of vertices. This cycle might be ned fairly
accurate by convex polygons. Moreover, they explained a
needed condition for kp-intervals potentially containing a stable area in the plane. As a result, after gridding kp in these
intervals, the set of stabilizing controller parameters could be
planned.
A partial order PIkDl controller of robust constancy areas
for interval plant with time delay has been suggested by Liang
et al. [23]. They have explored the problem of computing the
robust constancy area for interval plant with time delay. The
partial order interval quasi-polynomial was crumbling into a
number of vertex attribute quasi-polynomials by the lower
and upper bounds. To explain the constancy boundaries of
every vertex attributes quasi-polynomial in the space of
controller parameters, the D-decomposition method was
employed. By overlapping the constancy area of each quasipolynomial, the constancy area of interval attribute quasipolynomial was found out. By choosing the control parameters from the constancy area, the parameters of their suggested
controller were attained. The vigorous constancy was checked
by means of the value set together with the zero elimination
principle. Their suggested algorithm was constructive in examining and planning the robust PIkDl controller for interval
plant.
A particle swarm optimized I-PD controller of Second
Order Time Delayed System has been suggested by Suji Prasad
et al. [24]. Optimization was based on the presentation indices
like settling time, rise time, peak overshoot, ISE (integral
square error) and IAE (integral absolute error). PID controllers and its alternatives are most commonly used, although
there are important improvements in the control systems in
industrial processes. If the parameter of controller was not
appropriately planned, next needed control output may not
succeed. Compared with Ziegler Nichols and Arvanitis tuning,
they have conrmed that their simulation results with optimized I-PD controller to be specied enhanced presentations.
A PID controller for time delay systems has been explained
by Rama Reddy et al. [25]. Their suggested technique precised
the stable areas of PID and a novel PID with cycle leading correction (SLC) for network control systems with time delay.
The latest PID controller has a modication parameter b.
They have obtained that relation of the parameters of the system. The outcome of plant parameters on constancy areas of
PID controllers and SLC-PID controllers in rst-order and
second-order systems with time delay is moreover precised.
Finally, an open-loop zero was introduced into the plantunstable second order system with time delay so that the constancy areas of PID and SLC-PID controllers get competently
made bigger.
Luo et al. [26] have suggested a part encloses in selecting two
feasible or achievable patterns, and a FOPI/IOPID controller
synthesis was applied for all the steady FOPTD systems. The
entire possible area of two patterns can be attained and
pictured in the plane by means of their suggested plan.
Every mixture of two patterns can be conrmed before the
controller design, with those areas as the previous knowledge.

Please cite this article in press as: Agnihotri SP, Waghmare LM, Regression model for tuning the PID controller with fractional order time delay
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Regression model for tuning the PID controller with fractional order time delay system
In particular, it was fascinating to compare the regions of these
two possible areas for the IOPID and FOPI controllers. A simulation picture demonstrates that their suggested plan has
resulted and their presentation of the designed FOPI controller
is compared to the optimized integer order PI controller and the
planned IOPID controller.
Bouallegue et al. [27] have suggested to a novel PID-type
fuzzy logic controller (FLC) tuning approaches from a particle
swarm optimization (PSO) strategy. Two self-tuning methods
were inserted so as to develop more the presentation and
toughness properties of the suggested PID-fuzzy strategy.
The scaling features tuning problem of these PID-type FLC
congurations was created and steadily determined, by means
of a suggested limited PSO algorithm. To show the competence
and the supremacy of the suggested PSO-based fuzzy control
strategies, the case of an electrical DC drive benchmark was
explored, inside an improved real-time framework.
Shabib et al. [28] have explained about the power system
nonlinear with frequent changes in operating areas. In excitation control of power systems, Analog proportional integral
copied PID controllers were extensively employed. Fuzzy logic
control was frequently out looked as a structure of nonlinear
PD, PI or PID control. They moreover explained the design
principle, tracking presentation of a fuzzy proportionalintegral PI plus derivative D controller. To integrate a fuzzy
logic control mechanism into the alterations of the PID structure, this controller was improved by rst explaining discrete
time linear PID control law and subsequently more and more
obtaining the steps required. The bilinear transform (Tustins)
was applied to discretize the conventional PID controller. In
that some presentations criteria were employed for comparison
between other PID controllers, such as settling times, overshoots and the amount of positive damping.
Ozbay et al. [29] possess created some sort of traditional
appropriate PID controllers with regard to linear time period
invariant facilities whoever transfer operates were logical operates connected with Sa, exactly where 0 < a < 1, and s is the
Laplace transform variable. Effect connected with input
output time period delay about the range of allowed controller
details has been perused. This allowed PID controller details
were identied from a small acquire style of argument utilized
sooner with regard to specic dimensional facilities.
Zhao et al. [30] proposed an Integral of Time Absolute Error
(ITAE) zero-position-error optimal tuning and noise effect
minimizing method for tuning two parameters in MD TDOF
PID control system to own sought after regulatory as well as
disturbance rejection overall performance. Your contrast
together with Two-Degree-of-Freedom control program by
modied smith predictor (TDOF CS MSP) and also the made
MD TDOF PID tuned by the IMC tuning approach demonstrates the potency of the particular described tuning approach.
Feliu-Batlle et al. [31] proposed the latest technique for the
control of water distribution in an irrigation main canal pool
seen as substantial time-varying time delays. Time delays
may perhaps adjust greatly in an irrigation main canal pool
as a result of versions inside its hydraulic operations program.
A classic system got its start to development fractional buy PI
controllers coupled with Smith predictors that produce control
systems which can be robust for the modications in the process time delay. The system was given to x the situation
regarding powerful water submission control in an irrigation
main canal pool.

Sahu et al. [32] have outlined around the design and style
as well as effectiveness evaluation regarding Differential
Evolution (DE) algorithm based parallel 2-Degree Freedom
of Proportional-Integral-Derivative (2-DOF PID) controller
for Load Frequency Control (LFC) of interconnected power
system process. The planning issue has been formulated as
an optimization issue and DE has been currently employed
to look for optimal controller parameters. Standard as well
as improved aim features have been used for the planning goal.
Standard aim features currently employed, which were Integral
of Time multiplied by Squared Error (ITSE) and Integral of
Squared Error (ISE). To be able to additionally raise the effectiveness in the controller, some sort of improved aim operate is
derived making use of Integral Time multiply Absolute Error
(ITAE), damping ratio of dominant eigenvalues, settling times
of frequency and peak overshoots with appropriate weight
coefcients. The particular neness in the recommended technique has become conrmed by simply contrasting the results
with a lately published strategy, i.e. Craziness based Particle
Swarm Optimization (CPSO) for the similar interconnected
electric power process. Further, level of sensitivity evaluation
has been executed by simply varying the machine details as
well as managing load conditions off their nominal valuations.
It is really observed which the recommended controllers are
quite powerful for many the system parameters as well as managing load conditions off their nominal valuations.
Debbarma et al. [33] have suggested a new two-Degree-ofFreedom-Fractional Order PID (2-DOF-FOPID) controller
ended up being suggested intended for automatic generation
control (AGC) involving power systems. The controller ended
up being screened intended for the rst time using three
unequal area thermal systems considering reheat turbines
and appropriate generation rate constraints (GRCs). The
simultaneous optimization of several parameters as well as
speed regulation parameter (R) in the governors ended up
being accomplished by the way of recently produced metaheuristic nature-inspired criteria known as Firey Algorithm
(FA). Study plainly reveals your neness in the 2-DOFFOPID controller regarding negotiating moment as well as
lowered oscillations. Found function furthermore explores
the effectiveness of your Firey criteria primarily based marketing technique in locating the perfect guidelines in the controller as well as selection of R parameter. Moreover, the
convergence attributes in the FA are generally justify when
compared with its efciency along with other more developed
marketing technique such as PSO, BFO and ABC. Sensitivity
analysis realizes your robustness in the 2-DOF-FOPID controller intended for distinct loading conditions as well as large
improvements in inertia constant (H) parameter. Additionally,
the functionality involving suggested controller will be
screened next to better quantity perturbation as well as randomly load pattern.
Better performances of the closed-loop can be achieved by
using such kinds of controllers in fractional order time delay
systems. The PID controller is used due to the simplicity of
the operation, design and low cost in many industrial applications. However, for making stability system the tuning process
of PID controller is one of the complexes. Many tuning methods PID gains have been developed, but the Ziegler Nichols
method is one of the classical PID gain tuning technique.
But, the ZieglerNichols method is still widely used for
determining the parameters of PID controllers. In addition,

Please cite this article in press as: Agnihotri SP, Waghmare LM, Regression model for tuning the PID controller with fractional order time delay
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S.P. Agnihotri, L.M. Waghmare

construction of a mathematical tuning model design becomes

sometimes costly and these tuning rules often do not give suitable values because of modeling errors. The linear programming method is efciently for tuning the PID gains. But, it is
an iterative feedback tuning; so, the computational time and
the difculty of the tuning are high. Thus, the linear programming method is suitable for the specic case of tuning that is a
linear objective function. In this paper, iterative algorithm and
curve tting technique proposed to tune the fractional order
time delay system with PID controller.
3. Fractional order PID controller
Fractional-order controller design has attracted considerable
attention in the recent years due to a number of applications.
Better performances of the closed-loop can be achieved by
using such kind of controllers. In many industrial applications,
the PID controller is used due to the simplicity of the operation, design and low cost. The PID controllers are described
by a fractional order mathematical model. The fractional order
system is designed on control theory based techniques. So the
closed loop control parameters are changed sensitively and
their performance is enhanced. The fractional order PID controller block diagram structure is given in the following Fig. 1.
The above gure describes the combination of the PID controller GC (s) and fractional order system GC(s) and ehs. The
inputs, error and output of the present closed loop control system are r E and Y respectively. Here, the output of the fractional order PID controller can be described in the following
Eq. (1).


Kp s Ki Kd s2
1
Ys Es  K  ehs
Ts2 s
where Y(s) is the output equation, E(s) is the error of the system,
T is the time constant, h is the time delay and K is represented as
the steady state gain of the system, Kp, Ki and Kd are the
proportional, integral and derivative gains respectively. The
better tuning parameters are achieved by the proposed technique, which is briey explained in the following Section 3.1.

of the system and it makes the exact system response. By using

the evaluated parameters the fractional order system steady
state response is maintained and the best PID controller gains
were achieved at the time of system parameter variations.
3.1.1. Regression model
The proposed regression model is the widely used prediction
and forecasting technique, which is used to discover the best
t parameters from the available system data points. Here, it
forms the regression equation with the use of system output
parameters. In the regression equation the best values are
determined with the required adjustments of the system
parameters. The general equation can be described [5,8] in
the following,
zn xn z0 z1 x1 z2 x2 z3 x3    zn1 xn1 zn xn

where zn(x) is the required system data, z0, z1, z2 . . . zn1

and zn are the system data points at various conditions. The
system data are depending on the response of Y(s), which
are varied from different conditions, i.e., 0ton values. In
regression analysis the system response at n value can be
described as the following,
1
1
In regression analysis condition, xn Ys
, zn 1exp
wn
Then the regression value zn(xn) is rewritten as follows,
zn xn

1 exp wn Es  K  ehs

Kp sKi Kd s2
Ts2 s

n

where wn is the weight of the exponential function, the equation shows the system data at zn(xn) value. By using the Eq.
(3), the following equations are derived from different conditions. Then the following equation can be described at the initial data points and weight. If, xn = x0 and zn = z0, then the
Eq. (3) is written as follows:
zn xn =n 0 z0
n

If, x = x and zn = z1 then Eq. (3) is written as follows:

3.1. Over view of the proposed method

In this paper, a regression analysis for tuning the PID controller with fractional order time delay system is proposed. The
regression analysis tuning is one of the statistical models,
which are used to describe the relationship between two and
more variables. It identies the best t parameters from the
available system dataset. Here, the tuning process of the
proposed model depends on the weight of the exponential
function. From the iterative algorithm best weights are determined. It has been allowed to evaluate the best t parameters

Figure 1

Structure of the fractional order PID controller.

Figure 2

Structure of the proposed method.

Please cite this article in press as: Agnihotri SP, Waghmare LM, Regression model for tuning the PID controller with fractional order time delay
system, Ain Shams Eng J (2014), http://dx.doi.org/10.1016/j.asej.2014.04.007

Regression model for tuning the PID controller with fractional order time delay system

Figure 3 Performance of the system (a) PID controller (b) ZieglerNicholas method (c) curve tting technique (d) Wang tuning
controller (e) regression method.

Please cite this article in press as: Agnihotri SP, Waghmare LM, Regression model for tuning the PID controller with fractional order time delay
system, Ain Shams Eng J (2014), http://dx.doi.org/10.1016/j.asej.2014.04.007

S.P. Agnihotri, L.M. Waghmare

(ac) Comparison of the tuning performance of the system at different time delay instants.

Figure 4

zn xn =n 1



1
K sK K s2
1 exp w1 Es  K  ehs p Ts2isd

If, xn = xn-1 and zn = zn1 then Eq. (3) is written as follows:

zn xn z0

Zn xn =n n  1

Kp sKi Kd s2
Ts2 s

n1

zn xn =n n

1 exp wn Es  K  ehs

Kp sKi Kd s
Ts2 s

n
2

1exp wn Es  K  ehs

If, x = x and zn = zn then Eq. (3) is written as follows:

1exp wn1 Es  K  ehs

1
Es  K  ehs


1exp w1

1 exp wn1 Es  K  ehs

equation is derived. Finally, the data points are combined

with the standard fractional order system which is derived in
terms of a regression equation, which is in the form of each
data point and the derived system equation is described as
follows:

The above mentioned equations at different conditions (4) to

(7) are substituted in Eq. (2) and the regression based system

Kp sKi Kd s2
Ts2 s

Kp sKi Kd s2
Ts2 s

Kp sKi Kd s2
Ts2 s

1   

n1

n

The best t data point of the system depends on the weight of

the exponential function. The iterative algorithm is used to
determine the best weights; it means the certain weight contains reduced overshoot time, settling time and steady state
error. The identication of the best weight using the iterative
algorithm is briey explained in the following section.

Please cite this article in press as: Agnihotri SP, Waghmare LM, Regression model for tuning the PID controller with fractional order time delay
system, Ain Shams Eng J (2014), http://dx.doi.org/10.1016/j.asej.2014.04.007

Regression model for tuning the PID controller with fractional order time delay system

Figure 5

(ac) Comparison of the tuning performance of the system at different time delay instants.

3.1.2. Best weight determined by iterative algorithm

Steps to determine the best weight

An iterative algorithm is the act to determine the desired goal,

target or result. In the process a mathematical function is
applied repeatedly, and the output of the one iteration is used
as the input of the next iteration. It can produce the approximate numerical solutions depending on the mathematical evaluation. Here, the best weight is determined from certain
evaluations. During the iteration process, the selected weight
checks for the convergence condition, i.e., the overshoot time,
the settling time and the steady state error is reduced. If the
resultant weight satises the convergence condition, then it
means that the steady state response of the system has been
maintained.
wn

xn  l1
l2

where xn is the data points of the fractional order system, l1

and l2 are the scaling transformation l1 = mean(xn) and
l2 = std(xn).

Step 1: Initialize the system data points from

xnmin  xn  xnmax :
Step 2: To determine the weight using the Eq. (9) and the
system data points.
Step 3: The determined weights are applied into the Eq.
(8) and check the output.
Step 4: If the convergence is satised, i.e., the overshoot
time, the settling time and the steady state error is
reduced. Then the selected weight is the best weight
(wBF
n ) or else go to the next step 5.
Step 5: To adjust the weights as wn 1, which is
achieved by changing the data points. Then repeat the
process until the best weight is achieved (wBF
n ).
The nal output of the iterative algorithm is the best
weight, which is used to develop the optimal system response.
The sequences of best weights are applied in the Eq. (1) and it
can be described in the following Eq. (10).

Please cite this article in press as: Agnihotri SP, Waghmare LM, Regression model for tuning the PID controller with fractional order time delay
system, Ain Shams Eng J (2014), http://dx.doi.org/10.1016/j.asej.2014.04.007

S.P. Agnihotri, L.M. Waghmare

Figure 6

(ac) Comparison of the tuning performance of the system at different time delay instants.

1

2
1
1
zBF
2
Ys
Ys

3

n1
1
1
BF
zBF





z
3
n1
Ys
Ys

n
1
zBF
n
Ys

n
BF
BF
zBF
n x z0 z1

10

The above equation is the resultant regression equation. The

proposed method operational structure is described in the following Fig. 2. The proposed regression model is implemented
in the MATLAB platform and the effectiveness is analyzed by
comparing the classical PID controller, ZieglerNichols tuning
method and iterative algorithm and curve tting technique
base tuning method.
4. Results and discussion
The proposed regression model is implemented on the MATLAB 7.10.0 (R2010a) platform. The numerical results of the

proposed method are presented and discussed in this section.

In the implementation process, the system parameters values
are set manually, i.e., the proportional gain (Kp), integral gain
(Ki) and derivative gain (Kd) are 0.5, 0.05 and 3 respectively, time
constant (T) is 360 s, time delay (h) is 1 s, steady state gain is (Tf)
14.9, the reference step is 10 and the simulated time is 1000 s.
The effectiveness of the proposed method is tested and compared using the classical PID controller, ZieglerNichols tuning
method and curve tting technique based tuning method. The
fractional order system with various time delays (h = 20, 40,
60, 80 and 100) at PID controller, ZieglerNichols tuning
method, curve tting technique, Wang tuning controller and
regression method are analyzed in the following Fig. 3ae
respectively.
Then the fractional order time delay system of tuning performance of the proposed regression method is compared with
the conventional PID controller, which is illustrated in the
Fig. 4ac. It is demonstrated under various time delays such
as h = 20, 40 and 60. In Fig. 5ac the regression method is
compared to the ZieglerNicholas method at time delays

Please cite this article in press as: Agnihotri SP, Waghmare LM, Regression model for tuning the PID controller with fractional order time delay
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Regression model for tuning the PID controller with fractional order time delay system

Figure 7

(ac) Comparison of the tuning performance of the system at different time delay instants.

h = 20, 40 and 60 respectively. The Wang tuning controller is

compared with the proposed method and it is explained in the
Fig. 6ac respectively. The tuning performance of our method
effectiveness is compared to the curve tting technique at time
delay instants h = 20, 40 and 60, which is illustrated in the
Fig. 7ac respectively. The bode diagram of the system is evaluated and subsequently setting the described time delay values.
The bode diagram of the system after setting time delay instant
h = 20 is illustrated in the Fig. 8a. Fig. 8b shows that bode
diagram of the system after setting the time delay instant
h = 40 and bode diagram after setting the time delay instant
h = 60, which is illustrated in the Fig. 8c.
The proposed regression methods effectiveness was discussed in this section. Here, the fractional order time delay
system is tested under the conventional PID controller,
ZieglerNichols method, curve tting technique, Wang tuning
controller and our proposed method. These techniques are
analyzed with various time delay instants h = 20, 40, 60, 80
and 100. During the time delay occurrence in the fractional

order time delay system, the output performance was oscillated. Therefore the rise time, overshoot time and settling time
have been increased. Then the output performance of the every
technique is compared to the proposed technique. By using the
PID controller at different time delay instants h = 20, 40 and
60. It takes more time to reach a low value to the highest value
(rise time), the required output signal exceeds its target
(overshoot time) and the settling time is also underprivileged.
For ZieglerNichols method, reaching the high value at the
300 s at the time delay instant h = 20. The rise time gets
increased from 320 s and 340 s, due to the time delay becomes
increased at 40 and 60 respectively. The output of the Ziegler
Nichols method exceeds its target at increased time. Also the
output requires more time to achieve the steady state or settling time, i.e., takes more than 700 s at various time delay
instants h = 20, 40 and 60. Similar to the ZieglerNichols
method the Wang tuning controller is also inefcient to produce better tuning performance. The curve tting technique
also shows the following unfeasible solutions at various time

Please cite this article in press as: Agnihotri SP, Waghmare LM, Regression model for tuning the PID controller with fractional order time delay
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10

S.P. Agnihotri, L.M. Waghmare

Figure 8

Bode diagram of the system after setting different time delay instants (a) h = 20 (b) h = 40 and (c) h = 60.

delay instants h = 20, 40 and 60. During the time delay occurrence, the rise time is increased more than 80 s, a peak overshoot time somewhat is reduced and the settling time
becomes above 100 s. The proposed regression method
achieves the rise time at less than 30 s, peak overshoot time
gets reduced and the settling time has been less than 80 s.
The comparative analysis shows that, the proposed technique
gets better for tuning the system response when compared
to curve tting technique, Wang tuning controller, Ziegler
Nichols method and PID controller.
5. Conclusion
The proposed regression technique is used for tuning the fractional order time delay system with PID controller. In the
regression technique, fractional order system output parameters were utilized to derive the time delay system response in
the form of the regression function. Then, the best weights
were selected by an iterative algorithm for tting the best system response. The best weight was applied to the regression
equation and the corresponding time delay system response

was analyzed. The results have been veried through various

time delay responses and analyzed the stability of the PID
controller with fractional order time delay system. The effectiveness of the proposed method is analyzed via the comparison with the classical PID controller, ZieglerNichols tuning
method and iterative algorithm and curve tting technique
base tuning method. The comparative analysis shows that,
the proposed hybrid technique is the best technique for tuning
the fractional order time delay system, which is competent over
the other tuning methods. In future, the proposed method can
be used in the higher order system tuning parameter optimization. Also the PID controller with fractional order time delay
system tuning parameters will be predicted by using different
types of optimization techniques.
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system, Ain Shams Eng J (2014), http://dx.doi.org/10.1016/j.asej.2014.04.007

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Mr. S.P. Agnihotri (Santosh Prabhakar

Agnihotri) obtained his Bachelors degree in
Instrumentation and Control from University
of Pone. Then he obtained his Masters degree
in Instrumentation Engineering and perusing
PhD from SGGS Institute of Engineering and
Technology, Vishnupuri, Nanded, Swami
Ramanand Teerth Marathwada University
his current research interests is time delay
system.

Dr. Laxman Madhavrao Waghmare Presently,

he is working as Director, SGGS Institute of
Engineering and Technology, Vishnupuri,
Nanded, completed B.E. (1986) and M.E.
(1990) from the SGGS Institute of Engineering and Technology, Nanded and Ph.D.
(2001) from Indian Institute of Technology
(IIT), Roorkee. His eld of interest includes
intelligent control, process control and, image
processing. He is recipient of K.S. Krishnan
Memorial national award for the best system
oriented research paper (published in the IETE Research Journal).
Presently working for a research project sponsored by the NRB of
DRDO.

Please cite this article in press as: Agnihotri SP, Waghmare LM, Regression model for tuning the PID controller with fractional order time delay
system, Ain Shams Eng J (2014), http://dx.doi.org/10.1016/j.asej.2014.04.007