Tuning of Fractional Order PIλDμ Controller Based on An Improved Quantum Evolutionary Algorithm

A new method of tuning the PIλDμcontroller is proposed, which is based on an improved quantum evolutionary algorithm. For this method, the parameters of fractional order pid (FOPID),Kp,Ki,Kd,λ and μ are chosen as optimal variables. On the chromosome, each quantum bit has three Bloch coordinates, and they correspond to the values of the parameters after the operation of transforming solution space. Meanwhile, the best solution and chromosome in each generation can be selected, and the operation of updating and mutation will be done according to the performance of the solutions. Finally, the optimal parameters can be obtained after a couple of iterations, with the integral time absolute error (ITAE) criterion adopted as the performance index. The comparison of performances with other methods demonstrates the effectiveness of this approach.