Auto-tuning of PID controller according to fractional-order reference model approximation for DC rotor control

• This paper presents a stochastic optimization method for PID controller auto-tuning.
• Response of real control systems can approximate response of a reference model.
• Low acceleration and low overshoot rotor control was achieved for flight control.
• Results are very useful for smooth and efficient rotor control of UAVs.

This paper presents a stochastic, multi-parameters, divergence optimization method for the auto-tuning of proportional–integral–derivative (PID) controllers according to a fractional-order reference model. The study aimed to approximate the step response of the real closed-loop flight control system to the response of a theoretical reference model for a smoother and more precise flight control experience. The proposed heuristic optimization method can auto-tune a PID controller without a precise plant model. This is very advantageous when dealing with model and parameter uncertainties in real control application and practice. Experimental study confirms the reference model driven auto-tuning of the DC rotor prototype.