Comparative Study of Fractional and Integer Order Adaptive Passivity-Based Controller Applied to the Level Regulation of a Conical Tank

Abstract

In this paper, the level of a conical tank was regulated using fractional order (FO) adaptive passivity-based controller (APBC) and integer order ABPC. The main aim was looking for possible advantages of combining FO controllers and APBC strategies. Comparative experimental results, also using classical Proportional Integer (PI) controller and FO-PI controller, are presented exploring the whole level operational range. Results showed that FO-PI controller has a better response than classical PI controller using a single set of parameter for the whole operational range; whereas three different set of parameters were adjusted for the classical PI controller for the level regulation at the operational range low, medium, and high. Also FO-APBC and APBC performed a faster response without overshoot and better degree of robustness under parameter variations, compared with PI controllers, for a level range over 0.2 m. FO-APBC is more robust than APBC.