2DOF multi-objective optimal tuning of disturbance reject fractional order PIDA controllers according to improved consensus oriented random search method

摘要

The consensus curve states a dynamic boundary that governs optimization process depending on the value of . As decreases, it implies that set point control performance is getting better, the value of consensus curve increases to meet higher disturbance rejection expectation. The logarithmic consensus coefficient is used for scaling of dynamic boundary of RDR objective. As the parameter increases and dynamic boundary increases for higher disturbance rejection performance. This leads a mechanism that increase of set point performance imposes the increase of disturbance rejection performance. The logarithmic consensus coefficient can be expressed as where is a desired optimal value of and is a desired optimal value for . Determination of the logarithmic consensus coefficient defines a consensus curve for optimal search of multi objective optimization method. The following figure illustrates a consensus curvature for the logarithmic consensus coefficient .