Thesis Title:

Fractional PID controller design for the control of Aircraft pitch using
Evolutionary Algorithm

Phase I

Procedure:

1. Open the “Newfolder” in any location in your computer then rename this
folder as ‘aircraft_pid’.
2. Download the following files from your email inbox and store the those
files into the folder ‘aircraft_pid’.
a. Files:
b. aircraft_model_pid.slx
c. iwo_pid.m
d. tracklsq.m

3. Open the matlab, then click the “browse folder icon” then select the
‘aircraft_pid’ folder location in your computer after that click “ok” .
a. Refer this below window

4. Then double click the following files in current folder in matlab window
(opening these files)
i. aircraft_model_pid.slx
ii. iwo_pid.m
iii. tracklsq.m
5. In matlab command window
i. >> iwo_pid.m then press enter, then program will run for 10
itreation.
6. After running the program, results will be displayed in command
window. Then transfer these results into first row of table 1 . ( Run 1)
For example, in command window, the result will be displayed like this below
picture.

Tr- Rise time, Ts- Setlling Time, % MP- peak overshoot, Peak- peak value,
Tp- Peak time.
Here Best Cost indicates the value of MSE.

7. Repeat the step 5 for another 9 times, every time transfer the results in to
table 1.

 Open the file tracklsq.m, In the last line, change as F=ISE; Repeat the
step 1 to 9. ( Transfer the results into Table 2)

Now Best Cost indicates the value of ISE.

 Then Open the file tracklsq.m, In the last line, change as F=ITSE;
Repeat the step 1 to 9. ( Transfer the results into Table 3)

Now Best Cost indicates the value of ITSE.

 Then Open the file tracklsq.m, In the last line, change as F=ITAE;
Repeat the step 1 to 9. ( Transfer the results into Table 4)

Now Best Cost indicates the value of ITAE.

 Then Open the file tracklsq.m, In the last line, change as F=IAE;
Repeat the step 1 to 9. ( Transfer the results into Table 5).

Now Best Cost indicates the value of IAE.

Note : Fill the results in the below tables and send me this document by
email.
 Controller gain and time response specifications for various objective functions
(IWO algorithm-based PID tuning)

TABLE 1: Objective function: Mean Square Error (MSE)

Peak MSE
Settling % Peak Peak
Rise time time
Runs Kp Ki Kd time (Ts) overshoot value
(Tr) in sec (Tp) in
in sec (% Mp) (Cp)
sec
Run 1
Run 2
Run 3
Run 4
Run 5
Run 6
Run 7
Run 8
Run 9
Run 10

TABLE 2: Objective function: Integral Square Error (ISE)

Peak ISE
Settling % Peak Peak
Rise time time
Runs Kp Ki Kd time (Ts) in overshoot value
(Tr) in sec (Tp) in
sec (% Mp) (Cp)
sec
Run 1
Run 2
Run 3
Run 4
Run 5
Run 6
Run 7
Run 8
Run 9
Run 10
 TABLE 3: Objective function: Integral Time Square Error (ITSE)

Peak ITSE
Settling % Peak Peak
Rise time time
Runs Kp Ki Kd time (Ts) in overshoot value
(Tr) in sec (Tp) in
sec (% Mp) (Cp)
sec
Run 1
Run 2
Run 3
Run 4
Run 5
Run 6
Run 7
Run 8
Run 9
Run 10

TABLE 4: Objective function: Integral Time Absolute Error (ITAE)

Peak ITAE
Settling % Peak Peak
Rise time time
Runs Kp Ki Kd time (Ts) in overshoot value
(Tr) in sec (Tp) in
sec (% Mp) (Cp)
sec
Run 1
Run 2
Run 3
Run 4
Run 5
Run 6
Run 7
Run 8
Run 9
Run 10
 TABLE 5: Objective function: Integral Absolute Error (IAE)

Peak IAE
Settling % Peak Peak
Rise time time
Runs Kp Ki Kd time (Ts) in overshoot value
(Tr) in sec (Tp) in
sec (% Mp) (Cp)
sec
Run 1
Run 2
Run 3
Run 4
Run 5
Run 6
Run 7
Run 8
Run 9
Run 10