Optimal Fractional Order PID Controller Design for Hydraulic Turbines Using a Multi-Objective Imperialist Competitive Algorithm

This paper introduces a novel approach for designing a Fractional Order Proportional-Integral-Derivative (FOPID) controller for the Hydraulic Turbine Regulating System (HTRS), aiming to overcome the challenge of tuning its five complex parameters (Kp, Ki, Kd, λ and μ). The design is formulated as a multi-objective optimization problem, minimized using the Multi-Objective Imperialist Competitive Algorithm (MOICA). The goal is to minimize two key transient performance metrics: the Integral of Squared Error (ISE) and the Integral of the Time Multiplied Squared Error (ITSE). MOICA efficiently generates a Pareto-front of non-dominated solutions, providing control system designers with diverse trade-off options. The resulting optimal FOPID controller demonstrated superior robustness when evaluated against simulated variations in key HTRS parameters (mg, eg and Tw). Comparative simulations against an optimally tuned integer-order PID and established literature methods (FOPID-GA, FOPID-MOPSO and FOPID-MOHHO) confirm the enhanced dynamic response and stable operation of the MOICA-based FOPID. The MOICA-tuned FOPID demonstrated superior performance for Setpoint Tracking, achieving up to a 26% faster settling speed (ITSE) and an 8% higher accuracy (ISE). Furthermore, for Disturbance Rejection, it showed enhanced robustness, leading to up to a 23% quicker recovery speed (ITSE) and an 18.9% greater error suppression (ISE).