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Abstract

This study compares various type of Fractional order PID (FOPID) Controller in regulating the steam temperature in distillation tank in the Small-Medium Industry Steam Distillation (SMISD) with intention to improve the tracking performances due to presence of noise. Three types of new modification version of FOPID have been proposed here. Based on literature review shows that the pole in origin of FOPID are absent due approximation by using Oustaloup Algorithm (ORA). The overall performances can be elevated by integrating the error filter. This new controller are named FOPIDer. Another problem faced during the development of FOPID is the effect of noise especially on derivative term. The sensitivity of derivate term are increasing exponentially as well as the effect of noise which are always uneven and random signal. Hence, to alter the effect of noise, the low pass filter are added to FOPID. By doing so, the effect of noise are gradually decreased and this controller are named as FOPIDlp. Both feature of error filter and low pass filter are integrate into single FOPID controller namely FOPIDerlp. Comparisons of assessing the effectiveness of controller performance and analyzed are based on the mean-square error (MSE) criteria index in noisy environment. This criteria measures the deviation of steam output from the predetermined set point which is 85 degree Celsius in this case. The real time showed that the FOPIDerlp provide the best performance in providing smaller MSE.