International Conference on Robotics, Automation, Control and Embedded Systems – RACE 2015
18-20 February 2015, Hindustan University, Chennai, India.
Adaptive Multi-Loop Fractional Order PID
Controller Tuning Using Bat Colony Optimization
for Quadruple Tank Process
U. Sabura Banu*
Professor*
Electronics and Instrumentation Engineering
BS Abdur Rahman University, Chennai - 48.
sabura.banu@bsauniv.ac.in
Abstract— Quadruple Tank process is a multi-input-multi-output
process. Mathematical modeling of the MIMO process is
computed. State space model is computed from the mathematical
model and is converted into transfer function matrices. Fourth
order transfer function is approximated into first order plus dead
time. Relative Gain Array (RGA) is computed for pairing the
input and output. Steady state gain matrix is used for determining
illness of MIMO system. Singular value decomposition technique
is used to determine condition number to avoid sensitivity
problem which arises due to small change of process output. In
proposed method, multiloop centralized fractional order PID
controller is designed for minimum phase Quadruple Tank
process. Simulation studies show the likelihood of the proposed
method for the computational analysis of the nonlinear minimum
phase interacting process. The experimental results indicate that
the developed control schemes work well under servo, regulatory
and servo-regulatory conditions.
Index Terms—Quadruple tank Process, Multi loop Fractional
Order PID control, Relative Gain Array, Condition number,
nonlinear process.
I. INTRODUCTION
The control of liquid level in tank process is basic control
problem in many process industries. Nonlinear multi input
multi output process with high interaction are complex to
control. Such multivariable system can be controlled either
by centralized multivariable control scheme or decentralized
multi loop control scheme. In many process industries multi-
loop PID control scheme is used for it advantage. The main
advantage of multi-loop scheme is that if any loop fails, the
control engineer can easily identify and replace controller,
easy to implement and tune. In this technique multi input
multi output (MIMO) process decomposed into single input
single output process. Condition numbers are found to
determine the worst case deviation of the open loop transfer
function. Some linear systems, a small change in one of the
values of the coefficient matrix or the right-hand side vector
causes a large change in the solution vector. A solution of
some linear system more sensitive to small change in error.
That is small error in process can change large error in
control action, therefore such system can to be decomposed.
The ill conditioned plant estimated in terms of certain
S.K.Lakshmanaprabu#
Research Scholar#
Electronics and Instrumentation Engineering
BS Abdur Rahman University, Chennai - 48.
prabusk.leo@gmail.com
singular values and condition numbers. Gain matrix with
large condition number said to be ill-conditioned [1]. Many
methods has been proposed for tuning decentralized PID
controller such as auto-tuning method from step tests[2],
effective transfer function based methods[3], automatic
tuning method [4], relay feedback tuning method[5] ,
detuning method, sequential loop closing method[6]. The
steps involved in tuning of multi-loop PID are tedious. From
simulation point of view, the mathematical model of the
process needs to be computed. The linear region should be
chosen from input output characteristics and state space and
transfer function for each linear need to be computed. The
influence of manipulated variable and controlled variable
should be analysed by interaction study [7][8]. Process
interaction plays vital role in design of optimal controller,
such interaction can be compensated by feed forward
element called decoupler [9].
Many of MIMO process are higher order dynamics
because of sensors and final control element. For
decentralized control design, higher order models
approximated into reduced first order model plus dead time
or second order model plus dead time. All the real world
system is not an exact integer order system. In earlier time,
all the real world processes are approximated into integer
order process due to lack of method availability. But now,
emerging numerical techniques used to convert
approximated integer order process into accurate fractional
order process [10].
The fractional calculus was 300 years old topic in the
branch of mathematics. Mathematician was privileged to
deal with fractional order calculus. Now the engineering
start to explore fractional order technique in engineering
application. The physical meaning of fractional order system
elaborated and identified in recent times. For last three
decades, the occurrence and importance of fractional
calculus techniques in control engineering has been
increased [11][12]. PID controllers have been widely used in
all kind of processing industries because of simplicity and
lower percentage overshoot, robustness [13]. The
conventional PID controller flexibility, robustness and
ISBN: 978−81−925974−3−0
 International Conference on Robotics, Automation, Control and Embedded Systems – RACE 2015
18-20 February 2015, Hindustan University, Chennai, India.

accuracy improved by additional two extra degree of unstable. If the sum of distribution valve constant is 1, then
freedom called integral order λ and derivative order μ . transmission zero will be at origin. The flow of tank is the
[14][15]. product of pump gain, ratio of valve opening and voltage
Tuning of five different parameters of controller is applied to the pump. The voltage to the pump is manipulated
difficult and challenging task. Recently various swarm variable which is applied pump driver circuit. The inflow
intelligence techniques like particle swarm optimization, bee water to Tank 1 is γ1k1v1 and flow to Tank 4 is (1-γ1)k1v1,
colony optimization, bacterial foraging, particle swarm Similarly for Tank 2 and 3. The control objective is to
optimization, bat algorithm [16, 17], differential evolution maintain the level in the lower two tanks 1 and 2 with two
(DE)[18,19], Genetic algorithm and some hybrid pumps.
optimization [20,21,22], etc has gained popularity in the
field of automation. Bat algorithm is a new metaheuristic A. Mathematical Modeling
method to find global optimum value. The micro bats find
their prey by its natural echolocation behaviour. The global Mathematical models of system were developed for
optimum value of fractional order controller parameters is many reasons. They may be constructed to assist in the
found by bat algorithm [23] [24]. In the proposed work, interpretation of experimental data, to predict the
multiloop fractional order PID controller parameters is consequences of changes of system input or operating
brought out by using the optimal values obtained from Bat condition, to deduce optimal system or operating conditions
algorithm for quadruple tank process. and for control purposes. But the main problem in modeling
In this paper multi loop fractional order PID control is the process dynamics should be captured otherwise no use
is used for quadruple tank process. The paper has been in modeling the process. The dynamic model of the process
organized as follows : Section 2 discusses the quadruple has been derived from the application of fundamental
tank process, section 3 elaborates the bat algorithm in physical and chemical principles to the system, using a
general, section 4 gives an insight on the fractional calculus, conventional mathematical modeling approach.
section 5 details multiloop fractional order PID controller dh1 a a γ
= − 1 2 gh + 3 2 gh + 1 k ν
(1)
1 3 1 1
tuning, section 6 discusses result analysis and discussion dt A1 A1 A1
and finally Conclusion. d h2 a a4 γ (2)
= − 2 2 g h2 + 2 g h4 + 2
k 2ν 2
dt A2 A2 A2
II. QUADRUPLE TANK PROCESS DESCRIPTION dh 3 a
= − 3 2 gh 3 +
(1 − γ 2 ) k v2
(3)
2
dt A3 A3
dh 4 a
= − 4 2 gh +
(1 − γ 1 ) k v1
(4)
4 1
dt A4 A3
The nominal values of the parameters and variables are
tabulated in table 2.1
TABLE 1. Nominal values of the parameters used
Parameter Description Value
A1,A3 cross sectional area of tank 28 cm2
1 and 3.
A2,A4 cross sectional area of tank 32 cm2
2 and 4.
a 1, a 3 cross-sectional area of the 0.071 cm2
outlet hole for tank 1 and 3
a 2, a 4 cross-sectional area of the 0.057 cm2
outlet hole for tank 1 and 3
g Gravitational constant 981 cm/s2
γ1, γ2 Flow distribution constant 0.70,0.60
Fig.1. Schematic diagram of Quadruple tank process
The open loop data was generated in the Quadruple tank
The schematic diagram for quadruple tank process is system by varying the inflow rate by V1 and V2 open loop
shown in figure 2.1. Johannson [25] proposed laboratory data generated .Operating points found out from the input
Quadruple tank process which consists of four output characteristics.
interconnected water tanks with two pumps v1 and v2. Pump
v1 is connected to tank1 and 4 with distribution valve γ1. B. State Space Model
Similarly pump 2 is connected to tank 2 and tank 3 with
distribution valve γ2. By adjusting the valve position γ1 and State space model for the quadruple tank process is
γ2, the dynamic of process can be changed by introducing obtained by linearizing the mathematical model using
transmission poles and interaction. If the sum of distribution Jacobian approximation and substituting the operating
valve γ1, γ2 is between 1 to 2, then the system is minimum conditions. In table 2.2, State space model and transfer
phase with transmission zero in left half. If the sum is function matrix is shown. The linearized state space model
between 0 to 1, then the system is non-minimum phase with represented as
transmission zero in right half which makes the process

ISBN: 978−81−925974−3−0
 International Conference on Robotics, Automation, Control and Embedded Systems – RACE 2015
18-20 February 2015, Hindustan University, Chennai, India.

⎡ −1
0
A3 ⎤ ⎡ γK
0 ⎥ ⎢ 1 1 0
⎤ singularity. A system with high value of condition number
⎢T AT A1 ⎥
⎢ 1 1 3
⎥ ⎢ ⎥ indicates how the linear dependent system is based on
⎢ −1 A4 ⎥ ⎢ γ 2 K2 ⎥
⎢ 0
T2
0
A3T4 ⎥⎥ ⎢
0
A2 ⎥ Singular value decomposition of the gain matrix. When
(5)
i
x=⎢ x+⎢ ⎥u dealing with condition number concept in control system, if
⎢ −1 ⎥ ⎢ (1 − γ 2 ) K2 ⎥
⎢0 0 0 ⎥ ⎢ 0 ⎥ it is below 50 then the system can be easily decoupled.
⎢ T3 ⎥ ⎢ A3 ⎥
⎢ −1 ⎥ ⎢ (1 − γ 1 ) K1 ⎥
⎢0 0 0 ⎥ ⎢ 0 ⎥
⎣ T4 ⎦ ⎣ A4 ⎦ b = g 121 + g 122 (8)
c = g 11 g 21 + g 12 g 22 (9)
⎡1 0 0 0⎤ d = g 2
+ g 2 (10)
y = ⎢ x (6 ) 21 22

⎣0 1 0 0 ⎥⎦
σ 1 = s12 =
(b + d ) + (b − d ) 2 + 4 c 2 (11)
2
Where Ti =
Ai 2 hi
, i = 0 ,1 , 2 , 3 , 4 . bd − c 2
(12)
ai g σ 2 = s 22 =
s 12
⎡s 0 ⎤
TABLE 2. Operating Conditions and the Conventional State Space and ∑ = ⎢ 1
Transfer Function Model of the Quadruple Tank Process ⎣0 s 2 ⎥⎦
Condition number C N = s 1 = σ m a x v a lu e (13)
Operating points
s2 σ m in v a lu e
V1s=3.15; V2s=3.15, h1s=21.67, h2s=22.54, h3s=13.12, h4s=14.12
Where σmax and σmin are the maximum and minimum
State space model singular values of Gain matrix.
⎡ − 0 .11 0 0 0 .11 ⎤ ⎡ 0 . 38 0 ⎤ ⎡1 0 0 0⎤
⎢ 0 ⎥ C = ⎢ ;
⎢ 0 − 0 .08 0 .08 0 ⎥⎥ ⎢ 0 . 27 ⎥ ⎣0 1 0 0 ⎥⎦
A=⎢ . B =
⎢ 0
⎢
0 − 0 .08 0 ⎥
⎥
⎢ 0 . 44
⎢
0 ⎥
⎥
⎡0
D = ⎢
0⎤ B. Calculating RGA with steady state gain matrix
⎣ 0 0 0 − 0 .11 ⎦ ⎣ 0 0 . 59 ⎦ ⎣0 0 ⎥⎦

Transfer Function Matrix G(s) Relative Gain Array formed. RGA is a normalized
⎡ 0.08s3 +0.007s2 +0.0001s+1.3×10−6 0.001s 2 +6.2×10−5 s +7.3×10−7 ⎤ form of the gain matrix.RGA has been widely used for the
⎢ s4 +0.1s3 +0.003s2 +5.3×10−5 s+2.5×10−7 s +0.1s3 +0.003s 2 +5.3×10−5 s +2.5×10−7 ⎥ .
4 multi-loop structure design, such as a ratio of an open-loop
⎢ 0.002s 2 +9.2×10−5 s +7.6×10−7 0.06s3 +0.005s 2 +0.001s +1.47×10−6 ⎥
⎢4 ⎥ gain to a closed-loop gain. It is used to find the influence of
⎣ s +0.1s3 +0.003s2 +5.3×10−5 s+2.5×10−7 s 4 +0.1s3 +0.003s 2 +5.3×10−5 s +2.5×10−7 ⎦
input to output. Form the transfer function matrix dynamic
relative gain arrays are formulated. Variable pairing is done
by selecting the values of relative gain close to value 1.
C. Approximation of the higher order transfer function to
first order plus dead time model for the Quadruple tank TABLE 3. Condition Number for Operating Range.
process
Condition Number for Operating Range.
Any higher order process can be approximated to Gain matrix Condition No. RGA
first order plus dead time. Analysis and controller design
⎡5 .192 2 .836 ⎤ C.N=3.3 ⎡ 1 .4 − 0 .4 ⎤
will be easy if higher order system is approximated to a G (0 ) = ⎢
5 .705 ⎥⎦ ⎢ − 0 .4 1.4 ⎥⎦
⎣ 2 .986 ⎣
FOPDT system. An attempt has been made to approximate
the second order process to FOPDT system.
⎡ 5.192 2.836 ⎤ C. NI Analysis with RGA
⎢ 62 .07 s + 1 e − 0. 2 s ⎥ (7)
126 .61 s + 1
G (s) = ⎢ ⎥.
⎢ 2.986 e − 0.2 s 5.705 ⎥ The stability of control loop pairing is analyzed by
⎣⎢ 89 .6 s + 1 91 .75 s + 1 ⎦⎥ Niederlinski index. Stability analysis of control loop pairing
is calculated by Niederlinski Index. This stability analysis is
perfectly applicable for two input two output system.
III. INTERACTION ANALYSIS Negative value of NI indicates the instability of pairing [26].
G (14)
A. Condition number NI =
∏
n
i =1
G ii

Gain matrix for the entire process is computed from

Transfer function matrix. Normally Gain matrix is used to ⎡5.192 2.836⎤
G(0) = ⎢ ⎥
determine illness of MIMO process and also whether system ⎣2.986 5.705⎦
can be decoupled or not. The Singular value decomposition
is a matrix technique that determines if a system is able to NI can be calculated by
be decoupled or not. The eigenvalues for the system are
(5.192 × 5.705) − ( 2.986 × 2.836 )
obtained from gain matrix. s1 and s2 are the positive square NI = = +0.68
(5.192 × 5.705)
roots of the respective eigenvalues. The condition number is
the ratio of the larger value to the smaller value. The plant
is said to be ill-conditioned when the condition number has
higher value. The CN indicates how close a matrix is to

ISBN: 978−81−925974−3−0
 International Conference on Robotics, Automation, Control and Embedded Systems – RACE 2015
18-20 February 2015, Hindustan University, Chennai, India.

IV. BASICS OF FRACTIONAL CALCULUS initial conditions assumption. The Laplace transform of the
Caputo fractional derivative is
The differ-integral operator, aDtq, is a combined
differentiation-integration operator commonly used in n −1
fractional calculus. This operator is a notation for taking
both the fractional derivative and the fractional integral in a
{ }
L a Dtq f (t ) = s q F (s) − ∑S q −k −1 ( k )
f (0) ; n − 1 < q < n (12)

single expression and is defined by Contrary to the Laplace transform of the Riemann-
⎧ dq Liouville fractional derivative, only integer order derivatives
⎪ q q>0
⎪ dt of function f are appeared in the Laplace transform of the
q ⎪ Caputo fractional derivative. For zero initial conditions,
a Dt = ⎨ 1 q=0 (6)
⎪t previous equation reduces to
⎪ ( dτ )−q
⎪⎩ ∫a
q<0 L { 0 D tq f ( t )} = s q F ( s ) (13)
Where q is the fractional order which can be a complex The numerical simulation of a fractional differential
number and a and t are the limits of the operation. There are equation is not simple as that of an ordinary differential
some definitions for fractional derivatives. The commonly equation. Since fractional order differential equations do
used definitions are Grunwald-Letnikov, Riemann-Liouville not have exact analytic solutions, approximations and
and Caputo definitions (Podlubny1999b). The Grunwald- numerical techniques are used. The approximation method,
Letnikov definition is given by Oustaloup filter is given by
d q f (t )
-q
⎛q⎞
s
⎡ t-a ⎤ N-1 ⎡ t-a ⎤ 1+
q
a Dt = = lim ⎢ ⎥ ∑ (-1) j ⎜ ⎟ f(t-j ⎢ ⎥ ) (7) N
ωzn
sq = k ∏
q
d (t − a) N->inf
⎣ N ⎦ j=0 j
⎝ ⎠ ⎣N⎦ ; q>0 (14)
The Riemann-Liouville definition is the simplest and easiest s
n=1
1+
definition to use. This definition is given by ωpn
t
dq f (t) 1 dn
d(t − a)q Γ(n − q) dt n ∫0
Dq
a t f (t ) = = (t −τ )n-q-1 f (τ )dτ (8) The approximation is valid in the frequency range [ωl,
ωh]; gain k is adjusted so that the approximation shall have
unit gain at 1 rad/sec; the number of poles and zeros N is
Where n is the first intger which is not less than q i.e. n- chosen beforehand (low values resulting in simpler
1≤q<n and Γ is the Gamma function. approximations but also causing the appearance of a ripple
inf
in both gain and phase behaviours); frequencies of poles and
∫t
z-1 − t
Γ(z) = e dt (9) zeros are given by
0 q
⎛ ω ⎞N
For functions f(t) having n continuous derivatives for t≥0 α =⎜ h ⎟ (1 5)
where n-1≤q<n, the Grunwald-Letnikov and the Riemann- ⎝ ωl ⎠
Liouville definitions are equivalent. The Laplace transforms
1− q
of the Riemann-Liouville fractional integral and derivative
are given as follows:
⎛ω ⎞ N
η =⎜ h ⎟ (16)
n-1
⎝ ωl ⎠
L{a D f (t)} = s F(s) − ∑s 0 D
q q k q−k −1
f (0); n-1<q<n (10)
t
k=0
t
ωzn = ω p ,n −1η , n=2,....,N
The Riemann-Liouville fractional derivative appears ω pn = ωz ,n −1α , n=1,....,N .
unsuitable to be treated by the Laplace transform technique
because it requires the knowledge of the non-integer order V. BAT ALGORITHM
derivatives of the function at t=0. This problem does not
exist in the Caputo definition that is sometimes referred as
smooth fractional derivative in literature. This definition of Swarm Intelligence techniques, such as particle swarm
derivative is defined by optimization, ant colony optimization, bee colony
optimization are gaining popularity in the recent past in the
⎧ 1 t f (m) (τ ) control engineering areas to solve complex problems. In the
⎪Γ(m − q) ∫0 (t −τ )
⎪ q+1-m
dτ ; m-1<q<m
q proposed research work, Bat colony optimization is used for
a Dt f (t) = ⎨ (11)
the optimization purpose. Bats have echolocation property
m
⎪ d [1,2] based on SONAR effects to identify prey, shun
⎪⎩ dt m f (t) ; q=m
obstruction, to find gap in the dark. Loud sound emanates
from Bats which is bounced back by the surrounding
Where m is the first integer larger than q. It is found that objects. The resultant signal bandwidth is correlated to the
the equations with Riemann-Liouville operators are various species. The duration of the pulse is a few
equivalent to those with Caputo operators by homogeneous thousandths of a second (approx. 8 to 10 ms), with a
constant frequency in the range of 25 kHz to 150 kHz.

ISBN: 978−81−925974−3−0
 International Conference on Robotics, Automation, Control and Embedded Systems – RACE 2015
18-20 February 2015, Hindustan University, Chennai, India.

During hunting, the pulse rate is about 200 pulses per
second nearer to their prey, specifying the signal processing
capability of the bats. The bat ear has an integration time
around 300 to 400s. Speed of sound in air is typically v =
340 m/s, the wavelength λ of the ultrasonic sound bursts
with a constant frequency f is given by λ=v/f, which is in the
range of 2mm to 14mm for the typical frequency range from
25kHz to 150 kHz. The loudness varies from loudest to
quietest from searching to nearing the prey. They even
avoid hinderance in the size of hair. The time delay between
emission and reception gives three dimensional view of the
scene Bats have the capability to identify the location of the
prey, its moving speed and its direction. The sight, smell
properties and the Doppler effect helps detect their prey with
easiness. Steps involved for the Bat algorithm is given
below:
Multi loop single input single output controller widely
used in all multivariable process. Whole MIMO process is
treated into many SISO process to make control strategy
simple. Lower order control can be improved by
decentralized control. In spite of many advanced control
strategies, multi loop control strategies widely used in
process industry due to reasonable performance and easy
implementation , easiness to handle loop failure .Multi loop
control design involves two methods. First one is
decentralized single input single output system and second
one is decoupler to eliminate the interaction effect.
m × m Process output can be described as
m
Y1 ( s ) = G11 ( s ) ⋅ U1 ( s ) + ∑G
i =2
1i ( s ) ⋅ U i ( s ) (17)

2 × 2 Process output can be described as

1. Echolocation a doppler effect is used to locate the prey Y1 ( s ) = G11 ( s ) ⋅ U1 ( s ) + G12 ( s ) ⋅ U 2 ( s ) (18)
and obstacles. Input output pairing is very essential in muli- loop
2. Bats start at position xi with a velocity vi and fixed control design. Interaction study such as Relative gain array
frequency fmin and varying wavelength λ and loudness A0 to RGA are used to find the interaction between input output,
search for prey. They vary the pulse emission based on the so maximum interaction between input and output at some
location of the target. conditions is selected for pairing. So desired output can be
3. Loudness changes from a large (positive) A0 to a controlled by manipulating the paired input. Paired input
minimum constant value Amin. 3D view is not generated
and output is U1, Y1 so G12 ( s ) ⋅ U 2 ( s ) is a disturbance for
which is available in nature. Also, the range of the
wavelength and the frequency and the detectable range are output Y1 due to interaction effect.
chosen arbitrarily and not fixed. The interaction affects the SISO PI/PID controller
performance. So tuning of PID is very difficult due to
A. Procedure for Bat Algorithm interaction. Many detuning methods available such as
sequential loop closing method, Relay auto tuning method,
Step 1: Bat population xi (i = 1,2, ......,n) for the ten independent loop method. Generally, the improvement of
parameters Kp1, Ki1, Kd1, λ1, µ1, Kp2, Ki2, Kd2, λ2, µ2 high level control is dependents on performance of low level
(Controller parameters for the two loops considering the PID loops. Decentralized PID controllers with decoupler are
interactions) and their corresponding vi are initialized. widely used to get satisfactory performance.
Step 2: Pulse frequency fi at xi, pulse rate ri and loudness Ai Process represented by,
are defined ⎡ g ( s ) g12 ( s ) ⎤
G ( s ) = ⎢ 11 ⎥ (19)
Step 3: The population xi to the Multiloop PI controller are ⎣ g 21 ( s ) g 22 ( s ) ⎦
applied and the multi-objective optimal function are A multivariable controller
computed by providing 50% weightage given to the ITAE of
the first loop and 50% weightage given to the ITAE of the ⎡ k ( s ) k12 ( s ) ⎤
K ( s ) = ⎢ 11 ⎥ (20)
second loop. ⎣ k21 ( s ) k22 ( s ) ⎦
Step 4: New solutions are generated by adjusting frequency,
⎛ 1 ⎞
Updating velocities and locations/solution. If rand >ri μij
Kij = kpij ⎜1 + + Td ij i s ⎟ , where Kpij is the
A solution is selected among the best solution ⎜ Ti i s λij ⎟
A local solution is generated around the selected ⎝ ij ⎠
best solution proportional gain, Tiij is integral time constant or reset time
Step 5: A new solution is generated by flying randomly. (mins/repeat), Tdij derivative time, λij integrator order and
Step 6: If rand <Ai and f(xi) < f(x+) µij derivative order .
The new solutions are accepted. The parameter ri The control law of PID rewritten as
is increased and Ai is reduced 1 μ
Step 7: The bats are ranked and the current best x+ is found. Kij ( s) = kpij + Kiij ⋅ λ + kdij ⋅ s ij (21)
s ij
Step 8: The results are post processed and visualiazed.
Step 9: Step 3 is proceeded till the maximum number of i, j = {1, 2,...., n}
iteration is reached or the sopping criteria met. Where integral gain kiij = kpij Tiij and derivative

VI. MULTILOOP FRACTIONAL ORDER PID gain kdij = kpij ⋅ Tdij .

CONTROLLER TUNING USING BEE COLONY In the proposed method, decentralized control of
OPTIMIZATIONBAT ALGORITHM MIMO interaction of one input on another output consider

ISBN: 978−81−925974−3−0
 International Conference on Robotics, Automation, Control and Embedded Systems – RACE 2015
18-20 February 2015, Hindustan University, Chennai, India.

as disturbance. But normally disturbance are independent on

input , however designing multi loop fractional order PID
will reject all disturbances by optimal tuning methods. Here
interactions are considered as disturbance for tuning purpose
alone. The multi objective optimization function of Bat
algorithm is weighted percentage of ITAE of the two loops.
Figure 6.1. shows the block diagram of the multiloop
fractional order PID controller tuned using Bat Algorithm.
The objective function is selected to be the Integral Time
Absolute Error (ITAE). The aim of the controller is to tune
the FOPID parameters for the two loops considering the
interactions. Normally, a multiloop PID controller requires
various steps, such as determination of the relative gain 60
Output Response for H1

array and find the interaction effects, then tune fractional

Height (H1 in cm)

Set Point

order PID controllers for the loop with higher interaction 40 Height

effects. Then detune the controller parameters so that the 20

effect of the other manipulated variable is taken into account 0

leading to a complex and lengthy procedure. Whereas, in 0 1000 2000 3000 4000 5000 6000 7000
Time (in secs)
8000 9000 10000

the proposed technique, the closed loop process is selected 60

Output Response for H2

and fractional order PID controller parameters were

Height (H2 in cm)
computed for minimum Integral time Absolute error.
Set Point
40
Height

20

0
0 1000 2000 3000 4000 5000 6000 7000 8000 9000 10000
Time (in secs)

Fig 3. Servo Response of FOPID controller 1, 2

Table V. Performance Indices under Servo Problems

Servo IAE ISE ITAE
Loop1 3375 38480 5.727e6
Loop2 4522 3.949e4 1.016e6

B. Regulatory response

Fig 2. Block diagram of the Multiloop fractional order PID controller Fig.4 shows the regulatory response of the proposed
tuned using Bat Algorithm for two interacting conical tank process.
control scheme for quadruple tank process. Disturbance is
Table 4. Pid Parameters For The Proposed Scheme
given to the process at an interval of 1000sec. By adjusting
the manipulated variable, the process output is maintained
Technique Loop1 Loop2 constant irrespective of the disturbance applied within the
Controller tuned Kp1= 6.8152 Kp2 = 0.6626 range of ±10%. The response of disturbance rejection at
Ki1 = 0.82 Ki2 = 2.1056 steady sate is shown in fig.4. The ISE,IAE,ITAE value of
using Bat
Kd1 = 0.7184 Kd2 = 1.611 Fractional order PID controller 1,2 under regulatory
algorithm λ1 = 0.9686 λ2 = 0.7788 problems is tabulated in table VI.
µ1 = 0.5313 µ2 = 0.4235

VII. ANALYSIS
A. Servo Response

Fig.3 shows the servo response for quadruple tank

process. Variable set point is given at an interval of 2*103
sec and the controller has complete control over the process
and the controller tracks the set point. The ISE, IAE, ITAE
value of Fractional order PID controller 1,2 under servo
problem is tabulated in table.5

ISBN: 978−81−925974−3−0
 International Conference on Robotics, Automation, Control and Embedded Systems – RACE 2015
18-20 February 2015, Hindustan University, Chennai, India.

Output Response for H1 Fig 5 shows the servo regulatory response of the
40 proposed controller. A variable step inputs are applied and a
disturbance is applied after the response reaches the steady
Height (H1 in c m )

30
state value. Even though both the set point and disturbance
20 are applied simultaneously, the proposed Fractional order
10
Set Point PID controller scheme is capable of providing efficient
Height
control action. The ISE,IAE,ITAE value of Fractional order
0
0 1000 2000 3000 4000 5000 6000 7000 8000 9000 10000 PID controller 1,2 under regulatory problems is tabulated in
Time (in secs) table VII.
Output Response for H2
40
Table 7. Performance indices under Servo-regulatory problems
Set Point
Height (H2 in c m )

30
Height
Servo Regulatory IAE ISE ITAE
20
Loop1 3483 39130 6.228e6
10
Loop2 4237 3.38e4 1.112e6
0
0 1000 2000 3000 4000 5000 6000 7000 8000 9000 10000
Time (in secs)

Fig.4 Regulatory Response of FOPID controller 1, 2 VIII. CONCLUSION

Table 6. Performance Indices under Regulatory problems

In the proposed work, multi-loop fractional order PID
controller is optimally tuned using Bat algorithm for
quadruple tank process. Gain matrix was computed to
Servo IAE ISE ITAE measure the interaction of process at steady state. The
Loop1 1588 9904 3.783e6
sensitivity problem due to interaction is determined from
SVD conditional number. The stability of control loop
Loop2 1113 7753 5.907e5 pairing is analyzed by Niederlinski index. Multi-loop
fractional order PID parameters are computed using Bat
C. Servo Regulatory Response algorithm minimizing Integral Time Absolute Error. The
proposed controller is validated for servo, regulatory and
servo-regulatory problems and the result shows that the
scheme will result in a simple design of the multi-loop
fractional order PID controller for quadruple tank process.

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