A Weighted Fractional Order PID controller for nonlinear systems with variable delay

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dc.contributor.authorCamacho, Oscar
dc.contributor.authorChalco, Ronny
dc.contributor.authorDi Teodoro, Antonio
dc.contributor.authorGude, Juan José
dc.contributor.authorMontaluisa, Renato
dc.contributor.authorVargas, Carlos
dc.contributor.authorVega, Sebastián
dc.date.accessioned2026-04-22T13:07:58Z
dc.date.available2026-04-22T13:07:58Z
dc.date.issued2025-12
dc.date.updated2026-04-22T13:07:58Z
dc.descriptionPonencia presentada en la 3th IFAC Conference on Fractional Differentiation and its Applications ICFDA 2025, celebrada en Argelia entre el 16 y el 18 de diciembre de 2025es
dc.description.abstractThis paper presents a Weighted Fractional Order PID (WFO-PID) controller that enhances the conventional Fractional Order PID (FOPID) structure by introducing explicit weighting factors for the tuning terms. These weights, combined with fractional orders and gain parameters, provide greater flexibility in tuning, enabling for more precise control over system dynamics. The proposed controller is applied to a mixing tank process with variable time delay, a representative case of industrial processes with challenging dynamics. Its performance is benchmarked against both PID and FOPID controllers, demonstrating improved reference tracking and disturbance rejection, particularly under varying delay conditions and noise in the transmitter. The findings highlight the WFO-PID method's efficiency in managing intricate control situations.en
dc.description.sponsorshipThis work was supported by the Basque Government (BEREZ-IA Elkartek Project, Grant KK-2023/00012) and by Universidad San Francisco de Quito (USFQ) through the Poli-Grants Program (Grant 33603)en
dc.identifier.citationCamacho, O., Chalco, R., Di Teodoro, A., Gude, J. J., Montaluisa, R., Vargas, C., & Vega, S. (2025). A Weighted Fractional Order PID controller for nonlinear systems with variable delay. IFAC-PapersOnLine, 59(37), 199-204. https://doi.org/10.1016/J.IFACOL.2026.01.034
dc.identifier.doi10.1016/J.IFACOL.2026.01.034
dc.identifier.eissn2405-8963
dc.identifier.issn2405-8971
dc.identifier.urihttps://hdl.handle.net/20.500.14454/5739
dc.language.isoeng
dc.publisherElsevier B.V.
dc.rightsCopyright © 2025 The Authors
dc.subject.otherComposition properties
dc.subject.otherFractional PID control
dc.subject.otherFractional systems
dc.subject.otherIndustrial Process Control
dc.subject.otherWeighted Operators
dc.titleA Weighted Fractional Order PID controller for nonlinear systems with variable delayen
dc.typeconference paper
dcterms.accessRightsopen access
oaire.citation.endPage204
oaire.citation.issue37
oaire.citation.startPage199
oaire.citation.titleIFAC-PapersOnLine
oaire.citation.volume59
oaire.licenseConditionhttps://creativecommons.org/licenses/by-nc-nd/4.0/
oaire.versionVoR
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