Fractional order control (FOC) has received widespread attention in recent years due to its efficient tuning capacity, intuitive concept, and enough flexibility. Again, FOC are known to be robust with the open loop gain in particular. However, the design of FOC demands the knowledge of the model to be modified. But on the other hand, the linear active disturbance control (LADRC) technique is known to be model free controller. In order to achieve the better tracking performance even in uncertain operational conditions by responding timely against external disturbances, these two controllers (FOC and LADRC) are combined to propose a new fractional order LADRC to handle integer order system. Therefore, FOC-based LADRC for heat-flow experiment (HFE) is designed in this paper to track desired trajectories of heat flow. Bode’s ideal transfer function is considered as an orientation model to propose this new controller while using the concept of internal mode control. A better performance of fractional order linear active disturbance control (FO-LADRC) is shown for a very good disturbance rejection capability through simulation and experiments on a heat-flow system.

Even though, it is mostly used by process control engineers, the temperature control remains an important task for researchers. This paper addressed two separate issues concerning model optimization and control. Firstly, the linear models for the three different operating points of the heat flow system were found. From these identified models a Takagi-Sugeno model is obtained using fixed membership functions in the premises of the rules. According to the chosen objective function, parameters in the premise part of Takagi-Sugeno fuzzy model were optimized using the grey wolf algorithm. Furthermore, by using the parallel distributed compensation a fuzzy controller is developed via the fuzzy blending of three proportional + sumcontrollers designed for each of the operating points. In order to evaluate performance, a comparison is made between the fuzzy controller and local
linear controllers. Moreover, the fuzzy controllers from the optimized and initial Takagi-Sugeno plant models are compared. The experimental results on a heat flow platform are presented to validate efficiency of the proposed method.

@article{nath_2019,
title = {Fuzzy tuned model based control for level and temperature processes},
author = {Manikya Nath, U.; Dey,, C.; Mudi, R.K.},
journal = {Microsystem Technologies},
year = {2019},
month = {03},
volume = {25},
number = {3},
institution = {Jadavpur University, India; University of Calcutta, India},
abstract = {At present, model based controllers are being extensively used in process industries due to their simple tuning strategy. Internal model control (IMC) is one of the widely accepted model based controller design methodologies in close-loop control applications with considerable process lag. But, similar to the other model based controller design techniques, availability of an appropriate linear model of the concerned process is essential for IMC design. However, in reality, most of the industrial processes are nonlinear in nature. Hence, designing of an IMC controller for such cases is truly a difficult task especially for ensuring satisfactory performance during transient as well as steady state operating conditions simultaneously. In this study, to achieve an overall acceptable process response, we propose an auto-tuning scheme for the conventional IMC-PID controller by varying its sole tuning parameter depending on the latest process operating conditions. Superiority of the proposed auto-tuned IMC-PID controller is observed for real-time level and temperature processes where the close-loop time constant (λ) is varied with the help of twenty-five fuzzy rules defined on the values of process error (e) and change of error (Δe). },
language = {English},
publisher = {Springer Nature Switzerland}
}

At present, model based controllers are being extensively used in process industries due to their simple tuning strategy. Internal model control (IMC) is one of the widely accepted model based controller design methodologies in close-loop control applications with considerable process lag. But, similar to the other model based controller design techniques, availability of an appropriate linear model of the concerned process is essential for IMC design. However, in reality, most of the industrial processes are nonlinear in nature. Hence, designing of an IMC controller for such cases is truly a difficult task especially for ensuring satisfactory performance during transient as well as steady state operating conditions simultaneously. In this study, to achieve an overall acceptable process response, we propose an auto-tuning scheme for the conventional IMC-PID controller by varying its sole tuning parameter depending on the latest process operating conditions. Superiority of the proposed auto-tuned IMC-PID controller is observed for real-time level and temperature processes where the close-loop time constant (λ) is varied with the help of twenty-five fuzzy rules defined on the values of process error (e) and change of error (Δe).

@article{orman_2019,
title = {Temperature Profile Tracking Control with Memristor Based PI Controller in the Heat Flow System},
author = {Orman, K.},
journal = {International Journal of Modern Research in Engineering and Technology},
year = {2019},
month = {12},
volume = {4},
number = {12},
institution = {Erzincan Binali Yıldırım University, Turkey},
abstract = {In this study, a memristor based PI controller was designed and the performance of the controller was tested in simulation model on the heat flow system. Furthermore, the use of Memristor, which has an increasing interest in recent years, has been tested in the field of control systems. The simulation results show that the designed controller successfully performs reference temperature profile tracking. },
issn = {2 4 5 6 - 5 6 2 8},
keywords = {Temperature Profile Tracking Control, Heat Flow, Memristor},
language = {English},
pages = {12-15}
}

In this study, a memristor based PI controller was designed and the performance of the controller was tested in simulation model on the heat flow system. Furthermore, the use of Memristor, which has an increasing interest in recent years, has been tested in the field of control systems. The simulation results show that the designed controller successfully performs reference temperature profile tracking.

@article{Khadraoui_2018,
title = {A Nonparametric Approach to Design Fixed-order Controllers for Systems with Constrained Input},
author = {Khadraoui, S.; Nounou, H.},
journal = {International Journal of Control, Automation and Systems},
year = {2018},
volume = {16},
number = {6},
institution = {University of Sharjah, UAE; Texas A&M University at Qatar, Qatar},
abstract = {This paper presents an approach for designing fixed-structure controllers for input-constrained linear systems using frequency domain data. In conventional control approaches, a plant model is needed to design a suitable controller that meets some user-specified performance specifications. Mathematical models can be built based on fundamental laws or from a set of measurements. In both cases, it is difficult to find a simple and reliable model that completely describes the system behavior. Hence, errors associated with the plant modeling stage may contribute to the degradation of the desired closed-loop performance. Due to the fact that the modeling stage can be viewed only as an intermediate step introduced for the controller design, the concept of data-based control design has been introduced, where controllers are directly designed from measurements. Most existing data-based control approaches are developed for linear systems, which limit their application to systems with nonlinear phenomena. An important non-smooth nonlinearity observed in practical applications is the input saturation, which usually limits the system performance. Here, we attempt to develop a nonparametric approach to design controllers from frequency-domain data by taking into account input constraints. Two practical applications of the proposed method are presented to demonstrate its efficacy. },
issn = {1598-6446},
keywords = {Actuator saturation, constrained optimization, data-based control, frequency response, energy consumption, safe process operation},
language = {English},
publisher = {Springer Nature Switzerland},
pages = {2870-2877}
}

This paper presents an approach for designing fixed-structure controllers for input-constrained linear systems using frequency domain data. In conventional control approaches, a plant model is needed to design a suitable controller that meets some user-specified performance specifications. Mathematical models can be built based on fundamental laws or from a set of measurements. In both cases, it is difficult to find a simple and reliable model that completely describes the system behavior. Hence, errors associated with the plant modeling stage may contribute to the degradation of the desired closed-loop performance. Due to the fact that the modeling stage can be viewed only as an intermediate step introduced for the controller design, the concept of data-based control design has been introduced, where controllers are directly designed from measurements. Most existing data-based control approaches are developed for linear systems, which limit their application to systems with nonlinear phenomena. An important non-smooth nonlinearity observed in practical applications is the input saturation, which usually limits the system performance. Here, we attempt to develop a nonparametric approach to design controllers from frequency-domain data by taking into account input constraints. Two practical applications of the proposed method are presented to demonstrate its efficacy.

@article{hernandez-perez_2018,
title = {An improvement on the PI controller for a class of high-order unstable delayed systems: Application to a thermal process},
author = {Hernandez-Perez, M.A.; del Muro-Cuellar, B.; Velasco-Villa, M.; Novella-Rodriguez, D.F.; Garrido-Moctezuma, R.A.; Garcia-Ramirez, P.J.},
journal = {Control Engineering and Applied Informatics},
year = {2018},
volume = {20},
number = {1},
institution = {Universidad Veracruzana, Mexico; Instituto Politécnico Nacional, Mexico; CINVESTAV-IPN, Mexico},
abstract = {This work addresses the stabilization and control problem of a class of input-output delayed unstable linear systems, i.e. n -order systems with one unstable pole and possibly one minimum phase zero. The problem is solved employing a modified version of the traditional PI, called the PIf controller, which incorporates a low-pass first order filter. This new scheme allows improving the existing results using the PI controller for high-order systems with time delay. The proposed control strategy is experimentally assessed through the temperature control of an unstable heat flow process. },
keywords = {Linear Systems, time–delay, modified PI control, unstable process, thermal process},
language = {English}
}

This work addresses the stabilization and control problem of a class of input-output delayed unstable linear systems, i.e. n -order systems with one unstable pole and possibly one minimum phase zero. The problem is solved employing a modified version of the traditional PI, called the PIf controller, which incorporates a low-pass first order filter. This new scheme allows improving the existing results using the PI controller for high-order systems with time delay. The proposed control strategy is experimentally assessed through the temperature control of an unstable heat flow process.

@conference{ionesi_2018,
title = {On-line parameter and state estimation of an air handling unit model: experimental results using the modulating function method},
author = {Ionesi, A.; Ramezani, H.; Jouffroy, J.},
booktitle = {2018 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM)},
year = {2018},
institution = {University of Southern Denmark},
abstract = {This paper considers the on-line implementation of the modulating function method, for parameter and state estimation, for the model of an air-handling unit, central element of HVAC systems. After recalling the few elements of the method, more attention is paid on issues related to its on-line implementation, issues for which we use two different techniques. Experimental results are obtained after implementation of the algorithms on a heat flow experiment, and they are compared with conventional techniques (conventional tools from Matlab for parameter estimation, and a simple Luenberger observer for state estimation) for their validation. },
issn = {2159-6255},
keywords = {Mathematical model, Atmospheric modeling, Heating systems, Computational modeling, Fans, Buildings, Estimation},
language = {English},
publisher = {IEEE},
isbn = {978-1-5386-1855-4 }
}

This paper considers the on-line implementation of the modulating function method, for parameter and state estimation, for the model of an air-handling unit, central element of HVAC systems. After recalling the few elements of the method, more attention is paid on issues related to its on-line implementation, issues for which we use two different techniques. Experimental results are obtained after implementation of the algorithms on a heat flow experiment, and they are compared with conventional techniques (conventional tools from Matlab for parameter estimation, and a simple Luenberger observer for state estimation) for their validation.

@article{al-saggaf_2016,
title = {Fractional-order controller design for a heat flow process},
author = {Al-Saggaf, U.; Mehedi, I.; Bettayeb, M.; Mansouri, R.},
journal = {Proceedings of the Institution of Mechanical Engineers, Part I: Journal of Systems and Control Engineering},
year = {2016},
volume = {230},
number = {7},
institution = {King Abdulaziz University, Saudi Arabia; University of Sharjah, United Arab Emirates; Mouloud Mammeri University, Algeria},
abstract = {In this paper, fractional-order controller designs for integer first-order plus time delay systems are investigated. Based on Bode’s ideal transfer function as a reference model, a new structure of the fractional-order controller is proposed. The internal model control principle is used to design the controllers. The effectiveness of the controllers is demonstrated through simulations and their efficiency is validated through experimentation on a heat flow platform. },
keywords = {Fractional-order controller, PID controller, internal model control, Bode’s ideal transfer function, heat flow experiment},
language = {English},
publisher = {SAGE},
pages = {680-691}
}

In this paper, fractional-order controller designs for integer first-order plus time delay systems are investigated. Based on Bode’s ideal transfer function as a reference model, a new structure of the fractional-order controller is proposed. The internal model control principle is used to design the controllers. The effectiveness of the controllers is demonstrated through simulations and their efficiency is validated through experimentation on a heat flow platform.

@article{torre_2016,
title = {What remote labs can do for you},
author = {de la Torre, L.; Sanchez, J.P.; Dormido, S.},
journal = {Physics Today},
year = {2016},
month = {4},
institution = {National Distance Education University, Madrid, Spain},
abstract = {The Internet of Things (IoT) is the network of physical devices connected to the internet. Online connections enable users to remotely monitor the devices and their surroundings or to actively control them through sensors and actuators. },
language = {English}
}

The Internet of Things (IoT) is the network of physical devices connected to the internet. Online connections enable users to remotely monitor the devices and their surroundings or to actively control them through sensors and actuators.

@article{matijevic_2014,
title = {The development and implementation of a thermal process trainer for control and measurement via the Internet.},
author = {Matijevic, M., Stefanovic, M., Cvjetkovic, V., Jokovic, V., Babajic, N., Ravlic, M. and Nestic, S.},
journal = {Computer Applications in Engineering Education},
year = {2014},
volume = {22},
number = {1},
abstract = {In engineering education, it is very important to provide solid knowledge and practice to students in order to deal with architectures, mechanisms, and algorithms for the control of processes. In this article we will present the concept, detailed technical requirements, description, implementation, and verification of a process (thermal) trainer. In addition three possible educational tasks will be presented with a developed software infrastructure for the remote control of a laboratory set-up via the Internet. },
keywords = {process trainer; web laboratory},
language = {English},
publisher = {Wiley Periodicals, Inc.},
pages = {167-177}
}

In engineering education, it is very important to provide solid knowledge and practice to students in order to deal with architectures, mechanisms, and algorithms for the control of processes. In this article we will present the concept, detailed technical requirements, description, implementation, and verification of a process (thermal) trainer. In addition three possible educational tasks will be presented with a developed software infrastructure for the remote control of a laboratory set-up via the Internet.

@article{malek_2013,
title = {Identification and tuning fractional order proportional integral controllers for time delayed systems with a fractional pole},
author = {Malek, Hadi; Luo, Ying; Chen, YangQuan},
journal = {Mechatronics},
year = {2013},
volume = {23},
abstract = {First order plus time delay model is widely used to model systems with S-shaped reaction curve. Its generalized form is the model with a single fractional pole replacing the integer order pole, which is believed to better characterize the reaction curve. In this paper, using time delayed system model with a fractional pole as the starting point, fractional order controllers design for this class of fractional order systems is investigated. Integer order PID and fractional order PI and [PI] controllers are designed and compared for these class of systems. The simulation comparison between PID controller and fractional order PI and [PI] controllers show the advantages of the properly designed fractional order controllers. Experimental results on a heat flow platform are presented to validate the proposed design method in this paper. },
keywords = {fractional order controllers, identification, controller design},
language = {English},
publisher = {Elsevier Ltd.},
pages = {746-754}
}

First order plus time delay model is widely used to model systems with S-shaped reaction curve. Its generalized form is the model with a single fractional pole replacing the integer order pole, which is believed to better characterize the reaction curve. In this paper, using time delayed system model with a fractional pole as the starting point, fractional order controllers design for this class of fractional order systems is investigated. Integer order PID and fractional order PI and [PI] controllers are designed and compared for these class of systems. The simulation comparison between PID controller and fractional order PI and [PI] controllers show the advantages of the properly designed fractional order controllers. Experimental results on a heat flow platform are presented to validate the proposed design method in this paper.

@conference{ahn_2008,
title = {Fractional-order integral and derivative controller design for temperature profile control},
author = {Ahn, H.-S.; Bhambhani, V.; Chen, Y.},
booktitle = {2008 Chinese Control and Decision Conference},
year = {2008},
abstract = {This paper presents a strategy to tune a fractional order integral and derivative controller satisfying gain and phase margins. The closed-loop system designed has a feature of robustness to gain variations with step responses exhibiting a nearly iso-damping property. This paper aims to apply the tuning procedure proposed to temperature control at selected points in Quanserpsilas heat flow experimental platform. From the comparison with the traditional PI/PID controller based on Ziegler Nicholpsilas tuning method, the effectiveness and validity of the proposed methodologies are illustrated. },
issn = {1948-9439},
keywords = {Temperature control, fractional-order IaD¤ control, heat flow},
language = {English},
publisher = {IEEE},
isbn = {978-1-4244-1733-9},
pages = {4766 - 4771}
}

This paper presents a strategy to tune a fractional order integral and derivative controller satisfying gain and phase margins. The closed-loop system designed has a feature of robustness to gain variations with step responses exhibiting a nearly iso-damping property. This paper aims to apply the tuning procedure proposed to temperature control at selected points in Quanserpsilas heat flow experimental platform. From the comparison with the traditional PI/PID controller based on Ziegler Nicholpsilas tuning method, the effectiveness and validity of the proposed methodologies are illustrated.