Design of Robust Fractional Order PID Controllers for Four Tank Systems Using Dragonfly Algorithm

Fractional Order Proportional Integral Derivative (FOPID) controllers are commonly utilized in reactors, power systems, robotic systems, and various industrial processes. Properly setting the parameters of an FOPID controller is crucial, as well-chosen parameters can significantly enhance performance in dynamic systems. This article introduces a meta-heuristic approach using the dragonfly algorithm, combined with a proposed objective function based on the Root Mean Square Error (RMSE), to optimize the parameters of the FOPID controller for a four-tank system (Quadruple Tank Process, QTP). The method is implemented in MATLAB and compared with traditional techniques. Simulation results demonstrate the effectiveness of the proposed approach, as evidenced by improved performance metrics such as the Integral of Square Error (ISE) and the Integral of Absolute Error (IAE).