AbstractThis paper proposes a fractional order PID

(FOPID) controller for the supplementary automatic generation

control (AGC) of a single area thermal power system having
non-reheat turbines. The parameters of fractional PID
controller are determined using genetic algorithm (GA). The
effectiveness of the proposed controller is established by
comparing its performance with the conventional integer order
integral, PI and PID controllers based AGC. The investigations
reveal that the proposed fractional order controller is better
than the integer order controllers in terms of settling time, peak
overshoot, steady state error and mean of sum of squared
errors (MSSE).
I. INTRODUCTION
Automatic generation control (AGC) is essential for the
generation, transmission and distribution of electrical power
economically and reliably while maintaining the power
quality within the acceptable limits. The variation of the load
demand leads to changes in power system operating point, the
frequency deviates from nominal value and moves towards
instabilities. The main goal of the AGC is to maintain a zero
system frequency deviation or keeping the frequency
uctuations within predetermined limits by regulating the
output power of each generator at prescribed levels by two
control loops (i) primary governor droop control and (ii)
secondary/ supplementary control. The conventional integral
or PI controllers are usually used as the secondary loop in the
AGC to minimize the steady state error and to improve the
transient response of the power system frequency. Traditional
tuning methods of these controllers such as Ziegler Nichols,
Karl-Astrom etc., may not be sufficient in order to tackle the
nonlinear nature and variable operating points of the modern
power system [1]. Many heuristic tuning techniques such as
GA [2]-[3], particle swarm optimization (PSO) [4]-[5], ant
colony optimization(ACO) [6], bacterial foraging
optimization algorithm (BFOA) [7]-[8] etc., have been
reported for the design of tuning parameters of these
controllers for AGC in power systems. Also, many other
control strategies such as variable structure control [9]-[10],

Ismayil C. is with the Electrical Engineering Department, National
Institute of Technology, Calicut, India (phone: +919446210889;
e-mail: ismayilc@gmail.com).
Dr. Sreerama Kumar R. is with the King Abdulaziz University, Jeddah,
Saudi Arabia (e-mail: sreeram@nitc.ac.in).
Dr. Sindhu T.K. is with the Electrical Engineering Department, National
Institute of Technology, Calicut, India (e-mail: tk_sindhu@nitc.ac.in).
optimal control [11]-[13], artificial neural networks [14]-[15],
fuzzy logic control [16]-[20] self-tuning control [21], digital
control [22], decentralized control [23] for the AGC of single
and multi-area power systems have been proposed by
researchers over the past two decades.
Even though many advanced control theories have been
established, most industrial controllers still use conventional
applications such as PI or PID. PID controllers are preferred
due to their simple structures, robustness, applicability over a
wide range and easy in implementation on analog or digital
platform [24]. In recent years fractional order controller finds
potential applications in the field of science and engineering
[25]-[30]. The fractional order PID (FOPID) controller is the
extension of the conventional PID controller based on
fractional calculus. In FOPID besides proportional (K
P
),
integral (K
I
) and derivative (K
D
) gains, the controller has two
more parameters, integral order () and derivative order ()
as design specifications which provide greater flexibility in
controller design [25], [28]. The motivation for the use of
FOPID controller is the similarity of the structure with the
integer order PID (IOPID) controller and the reduction in the
level of noise present in the controlled system accomplished
by using lower order derivatives. Some of the major merits of
using fractional order controllers include [27]
- No steady state error
- Robustness to variations in the gain of the plant
- Robustness to high frequency noise
- Good output disturbance rejection
The applications of FOPID controller as secondary
controller of AGC have been introduced by Almoush [31] for
isolated and interconnected power system. Recently Sanjay et
al. have applied fractional order control to a four area system
under deregulated environment [32].
This paper involves the application and design of
fractional order controllers to AGC of a single area thermal
power system. The design of the parameters viz., K
P
, K
I
, K
D
,
and of fractional PID controller is formulated as an
optimization problem and solved by using GA. The rest of
the paper is organized as follows:- Section II gives an
overview of fractional order controllers. Section III
describes the application and design of FOPID controller for
Automatic Generation Control of
Single Area Thermal Power System
with Fractional Order PID (PI

) Controllers
Ismayil C., Student Member IEEE, Sreerama Kumar R., Senior Member IEEE,
and Sindhu T. K., Member IEEE
Proceedings of the Third International Conference on
Advances in Control and Optimization of Dynamical
Systems, Indian Institute of Technology Kanpur, India,
March 13-15, 2014
Frcoe.1
552

AGC. In section IV an extensive comparison of integer order
controllers and fractional order controllers is presented.
Finally, section V gives the conclusions.
II. FRACTIONAL ORDER CONTROLLERS AN OVERVIEW
A. Fractional Order Calculus
The Fractional Order Calculus (FOC) deals with
differentiation and integration under an arbitrary order of
operation. The order of operation need not be an integer, can
be any real or complex number [33]-[34]. The FOC is based
on generalization of differentiation and integration to an
arbitrary order, which can be rational, irrational or even
complex. This generalization has led to the introduction of
continuous differo-integral operator [35]
( )

<
=
>
=
}

t
a
t a
d
dt
d
D
0 Re )
1 0 Re 1
0 Re
o t
o
o
o
o
o
o

where is the order of the differ-integration (usually
9 e o ) and a is a constant connected with initial conditions.
There is an array of definitions of differo-integral in the
literature. The three most frequent definitions bear the names
of Riemann-Liouville, Grnwald-Letnikov and Caputo. The
commonly used Riemann-Liouville version has the form


t
t
t
o
o
o
d
t
f
dt
d
n
t f D
t
a
n n
n
t a
} +
I
=
1
) (
) (
) (
1
) (

(2)
under the condition (n-1< <n). The term (.) represents
Gamma function.
Alternatively, the Grnwald-Letnikov definition is given by

) ( ) 1 (
1
lim ) (
0
0
jh t f
j h
t f D
h
a t
j
j
h
t a

(

=

(

o
o
o

( ) 3
where
) 1 ( ) 1 (
) 1 (
+ I + I
+ I
=
(

j j j o
o
o

( ) 4
where h is the time increment and [.] means the integer part.
Finally, Caputo has defined the differo-integral as
t
t
t
o
o
o
d
t
f
n
t f D
t
a
n
n
t a
} +
I
=
1
) (
) (
) (
) (
1
) (

( ) 5
Each of the definitions of an interpolation of the integer order
operations sequence has its advantages and drawbacks and
the user choice depends mainly on the purpose and the area
of application
The Laplace transform of the differ-integral can be written as
{ }
0
1
1
0
0
) ( ) 1 ( ) (
) ( ) (
=

}
=
=
t
m
t a
n
m
j m
t a
st
t a
t f D s s F s
dt t f D e t f D L
o o
o o

( ) 6
where integer n lies within (n-1<n)
A fractional order continuous-time linear time-invariant
dynamical system can be described by a fractional order
differential equation [33] as
) ( ..... .......... ) ( ) (
) 7 ( ) ( ..... .......... ) ( ) (
0
0
0
1
1
0
1
1
t u D b t u D b t u D b
t y D a t y D a t y D a
n n
n n
n n
n n
| | |
o o o
+ + + =
+ + +

where u(t) and y(t) are input and output signals
respectively,

t
D D
0
represents fractional derivative,
k
a with (k=0,......n) and
k
b with (k=0,......m) denote
constants,
k
o with (k=0,......n) and
k
| with (k=0,......m) are
arbitrary real numbers.
One can assume inequalities
0 1
...... o o o > > >
n n
and
0 1
...... | | | > > >
m m
without loss of generality.
Another option for fractional order system description is in
the form of incommensurate real orders transfer function as
0
0 1
0
0 1
. ..........
. ..........
) (
) (
) (
1
1
o o o
| | |
o
|
s a s a s a
s b s b s b
s A
s B
s G
n n
m m
k
k
n n
m m
+ + +
+ + +
= =

(8)

B. Fractional Order Controllers
The block diagram of Fractional Order PID (FOPID)
controller, referred to as PI

controller is shown in Fig. 1

[36]. As given in this figure, the FOPID controller can be
represented as
) 9 ( ) 0 , ( ) ( > + + =

s K
s
K
K s G
D
I
P c

where K
P
: is the proportionality constant
K
I
: is the integration constant
K
D
: is the differentiation constant

K
P

s
K
I
K
P

s
K
D
K
P

+
+
+


Fig. 1 General Structure of PI

controller



553



Fig. 3. Block diagram of single area power system with supplementary
controller
: order of integration (positive real number)
: order of differentiation (positive real number)
In FOPID controller, in addition to K
P
, K
I
and K
D
there
are two more parameters and , the integral and derivative
orders respectively. If =0 and =0, then it is just only a
proportional (P) controller, If =0 and =1, then it becomes a
proportional-derivative (PD) controller, If =1 and =0, then
it becomes a proportional-integral (PI) controller and If =1
and =1, then it becomes integer PID. These integer order
controllers are represented as points in - plane as shown in
Fig. 2 (a). Therefore FOPID controller generalizes the PID
controller and expands it from point to entire - plane as
shown in Fig. 2 (b) thus offering much wider selection of
tuning parameters there by more flexibility in the controller
design leading to more accurate control [25].
III. APPLICATION OF FRACTIONAL ORDER CONTROLLER TO
AUTOMATIC GENERATION CONTROL
A. Test System
Fig. 3 shows the block diagram representation of a single
area power system with supplementary controller which
consists of a governor, a turbine and generator with a
regulation constant feedback. The parameters of a typical
thermal power system are given in Table 1 adapted from
[37]. The primary AGC loop makes the initial coarse
adjustment of frequency. Depending on turbine type, it acts
between first 2 to 20 seconds of disturbance and changes the
turbine power output in proportion to the frequency change.
The primary loop as shown in Fig. 3 comprises of governor
dynamics, hydraulic valve actuator transfer function, turbine
generator transfer function, and the dynamics of the power
system in the control area. From the steady state analysis of
primary AGC loop, it is clear that there will always be a
steady state frequency error due to the action of primary
control loop. The secondary AGC loop takes over the fine
adjustment of frequency by resetting the speed changer
through integral control action and bringing the frequency
error to zero. This loop is considerable slower and its
response time is of the order of one minute. The control
action of secondary loop is governed by following relations
) 10 (
}
A = A fdt K P
I e

where
I
K is the gain of integral controller. Taking Laplace
transform of (10)
) 11 ( ) ( ) ( s f
s
K
s P
I
e
A = A

B. Optimal Tuning of Integer Order Controllers
(i)Integral Controller
Investigations are carried on a single area thermal system
shown in Fig. 3 with integral controller whose transfer
function is given by equation (10). For a load disturbance of
20 MW with different values of K
I
in the range 0 K
I
K
I,cr

[38] the time response f(t) is obtained,
where
) 12 (
4
) / 1 (
2
,
ps ps
ps
cr I
K T
R K
K
+
=

From the investigations made, choose the best value of K
I

which gives an optimal response of f (t) with regard to peak
undershoot, settling time, steady state error and mean of sum
of squared errors (MSSE). The value of K
I
so obtained is
0.09.


Fig. 2 (a) Integer order P/PI/PD/PID controllers (b) Fractional order
PID controller




TABLE 1
PARAMETERS OF SINGLE AREA THERMAL SYSTEM
Parameters Symbol Value
Rated capacity of the area Pr 2000 MW
Normal operating load Pnorm 1000 MW
Nominal frequency f 50 Hz
Load disturbance Pd 20 MW
Inertia constant of the area

H 5.0 MW s/MVA
Speed regulation (Governor droop)

R 3 Hz/ p.u.MW
Governor time constant

Tg 0.4 s
Turbine time constant

Tt 0.5 s
Electric power system time constant

TPS 20 s
Electric power system gain KPS 100





554

(ii) PI/PID controller
Optimal Values of the PI and PID controllers are obtained
by using GA. The procedure sequence of major steps of the
GA to obtain PI/PID controllers is as follows:
- Initialization

Start with a randomly generated population of
chromosomes called the candidate solution to the problem. It
is the solution values of K
P
and K
I
for the PI controller and
K
P
, KI and K
D
in the case of PID controller. The limits of the
roots are to be specified

- Evaluation of fitness function
The optimal values for PI (PID) controller tuning
parameters K
P
and K
I
(K
P,
KI and K
D
) are obtained by solving
the following optimization problem.
) ( 1
100
) , , (
k fit
K K K F Min
D I P
+
=
( ) 13

sub
max min
P P P
K K K s s

max min
I I I
K K K s s
max min
D D D
K K K s s
where ) ( ) )( 1 ( ) (
r s ss p
t t e E M e k fit + + =
| |
( ) 14
M
p
-undershoot of f (t) in p. u. Hz
E
ss
-steady state error of f (t) in p. u. Hz
t
s
- settling time of f (t) on a 2% tolerance band in s
t
r
- rise time of f (t) in s
- Weighting factor
- Development of New Generations
This step involves the application of genetic operations
such as selection, cross over and mutation. The parent's
strings are selected for reproduction using a combination of
roulette wheel selection and elitism. The cross over and
mutation are performed based on the probability of crossover
and mutation and these values used for the problem is given
Table 2
Each iterations of this process is referred to as a generation.
The entire set of generations is called a run. At the end of a
run there are often one or more highly fit chromosomes in the
population. This is taken as the solution to the problem
C. Optimal tuning of FOPID controller
The optimal values for FOPID controller tuning parameters
K
P
, K
I
, K
D
, and are also obtained by solving the following
optimization problem through the application of GA.

) ( 1
100
) , , , , (
k fit
K K K F Min
D I P
+
=
(15)

sub
max min
P P P
K K K s s

max min
I I I
K K K s s
max min
D D D
K K K s s
max min
s s
max min
s s
The parameters of the PI, PID and FOPID controllers so
obtained are given in Table 3.


IV. SIMULATION RESULTS
The effectiveness of the proposed FOPID controllers are
established through simulation studies on the single area
thermal system shown in Fig. 3. A step load disturbance of 20
MW (0.01 p. u. MW) is considered. The change in frequency
of the system with governor droop control (without secondary
controller), integer order integral controller, GA based integer
order PI and PID controllers and GA based FOPID controllers
are shown in Fig. 4. The change in mechanical power output
of the system with governor droop control (without secondary
controller), integer order integral controller, and GA based
integer order PI and PID controllers and GA based FOPID
controllers are shown in Fig. 5. It is seen from Fig. 4 showing
the variation of the deviation of system frequency that the
proposed FOPID controller shows better dynamic response.
The following time domain specifications are obtained for all
the controllers and given in Table 4
TABLE 2
GENETIC ALGORITHM PARMETERS
Parameters PI PID FOPID
Population size 60 60 100
Chromosome length 30 45 75
Cross over probability 0.7 0.7 0.85
Mutation probability 0.01 0.01 0.005
Number of generations 100 100 200
Termination criteria Number of generations
Cross over operator Double point cross over
Selection scheme Roulette wheel and elitism



TABLE 3
CONTROLLER PARMETERS
Controllers KP KI KD
Integral 0.09
PI 0.0252 0.0841
PID
0.0113
0.0938 0.0258
FOPID 0.0115 0.7820 0.6125 0.89990 0.5644


555

(i) Peak overshoot/ undershoot of change in frequency
(f
peak
)
(ii) Settling time (t
s
) on 2% tolerance band
(iii) Steady state error
(iv) Mean of sum of squared errors (MSSE)
MSSE is given by
n
e e e
n
e
MSSE
n
2 2
2
2
1
.......... + +
= =
(16)
From the column (1) of Table 4, it is seen that the peak
undershoot of the deviation in frequency using FOPID
controller is -0.0212. This value shows that an approximate
reduction of 50% or more in peak overshoot can be achieved
by using the proposed controller over other controllers. The
settling time of the FOPID and other controllers on 2 %
tolerance band is given in column (2) of the Table 4. The
value corresponding FOPID controller is 8.67s. It is 44 % less
than PID and 67% less than that of PI and integral controllers.
In column (3) of the Table 4, steady state error of the
frequency in p. u. Hz from the reference is given. The steady
state frequency deviation with governor control is obtained as
-0.02913 p. u. Hz. It is verified by hand calculation using the
following formula [38]
)
1
(
R
D
P
f
d
ss
+
A
= A
(17)
The least value of the steady state error is obtained in the
case of FOPID controller. The mean of the sum squared error
(MSSE) is calculated using equation (10) and given in
column (4)
From Fig. 4, Fig. 5 and Table 4, it can be observed that
the FOPID controller gives significantly better performance
than the conventional integral, GA tuned PI/PID controller for
AGC of single area thermal power system.

V. CONCLUSION
In this paper, a fractional order PID controller is proposed
for the supplementary AGC control of single area thermal
power systems. The investigations reveal that the proposed
FOPID based supplementary AGC controller provides
significant improvement in system dynamic response
compared to the conventional integer order controllers.
Further research on suitability of the fractional order PID
controllers on multi area systems, under conventional as well
as deregulation scenarios is under progress.

REFERENCES
[1] Serhat Duman, Nuran Yorukeren and Ismail Hakki Altas, "Load
frequency control of a single area power system using Gravitational
Search Algorithm," in Int. Symp. on Innovations in Intelligent Systems
and Applications, Trabzon, INISTA, Turkey, 02 Jul. 2012, pp. 1-5
[2] Y.L. Abdel-Magid and M.M. Dawoud, Optimal AGC tuning with
genetic algorithms, Elect. Power Syst. Res., vol. 38, no. 3,
pp. 231-238, Sept. 1996
[3] Fatemeh Daneshfar and Hassan Bevrani, Multiobjective design of
load frequency control using genetic algorithms, Int J. Elect. Power
and Energy Syst., vol. 42, no. 1, pp. 257263, Nov. 2012
0 2 4 6 8 10 12 14 16 18 20
-0.05
-0.04
-0.03
-0.02
-0.01
0
0.01
Time(s)
C
h
a
n
g
e

i
n

f
r
e
q
u
e
n
c
y

(
p
.

u
.

H
z
)


without controller
Integral controller
PI controller
PID controller
FOPID controller

Fig. 4. Dynamic response of frequency


0 2 4 6 8 10 12 14 16 18 20
-0.05
-0.04
-0.03
-0.02
-0.01
0
0.01
Time(s)
C
h
a
n
g
e

i
n

f
r
e
q
u
e
n
c
y

(
p
.

u
.

H
z
)


without controller
Integral controller
PI controller
PID controller
FOPID controller

Fig. 4. Dynamic response of frequency

0 2 4 6 8 10 12 14 16 18 20
0
0.002
0.004
0.006
0.008
0.01
0.012
0.014
0.016
0.018
0.02
Time (s)
C
h
a
n
g
e

i
n

m
e
c
h
a
n
i
c
a
l

p
o
w
e
r

o
u
t
p
u
t

(
p
.
u
.

M
W
)


without controller
Integral controller
PI controller
PID controller
FOPID controller

Fig. 5. Dynamic response of mechanical power output


TABLE 4
COMPARISON OF VARIOUS TIME DOMAIN SPECIFICATIONS

Controllers
fpeak
(p. u. Hz)
ts
(s)
Ess
(p. u. Hz)
MSSE

(1) (2) (3) (4)
Without
controller -0.0475

-

-0.02913

-
Integral -0.0454 19.65 -3.06 x 10
-4
4.847x 10
-5

PI -0.0441 19.06 -2.12 x 10
-4
3.441x 10
-5

PID
-0.0422
15.45 -9.35 x 10
-5
4.898x 10
-5

FOPID -0.0212 8.67 -6.52 x 10
-5
1.373x 10
-5


556

[4] Haluk Gozde and M. Cengiz Taplamacioglu, Automatic generation
control application with craziness based particle swarm optimization in
a thermal power system, Elect. Power Syst. Res., vol. 33, no. 1, pp.
816, Jan. 2011
[5] H. Gozde, M. C. Taplamacoglu and I. Kocaarslan, A swarm
optimization based load frequency control application in a two area
thermal power system, in 7
th
Int. Conf. on Electrical and Electronics
Engineering, Burca, ELECO 2009, Turkey, 5-8 Nov. 2009,
pp. 124-128
[6] C. Srinivasa Rao, S. Siva Naga Raju and P. Sangameswara Raju, Ant
Colony System Algorithm for Automatic Generation Control of
Hydrothermal System Under Open Market Scenario, in IET-UK Int.
Conf. on Information and Communication Technology in Electrical
Sciences, Chennai, ICTES 2007, India, 20-22 Dec. 2007, pp. 112-119
[7] E.S. Ali and S.M. Abd-Elazim, Bacteria foraging optimization
algorithm based load frequency controller for interconnected power
system, Int. J. Elect. Power and Energy Syst., vol. 33, no. 3, pp. 633
638, Mar. 2011
[8] E.S. Ali , S.M. Abd-Elazim, BFOA based design of PID controller for
two area Load Frequency Control with nonlinearities, Int. J. Elect.
Power and Energy Syst., vol. 51, pp. 224231, Oct. 2013
[9] D. Das, M.L. Kothari, D.P. Kothari and J. Nanda, Variable structure
control strategy to automatic generation control of interconnected
reheat thermal system, IEE Proc.-D Control Theory and Appl., vol.
138. no. 6, pp. 579-585, Nov. 1991
[10] Z.M. Al-Hamouz and H.N. Al-Duwaish, A new load frequency
variable structure controller using genetic algorithms, Elect. Power
Syst. Res, vol. 55, no. 1, pp.1-6, Jul. 2000
[11] F. Liu, Y.H. Song, J. Ma, S. Mei and Q. Lu, Optimal load-frequency
control in restructured power systems, IEE Proc.-Gener. Transm.
Distri,. vol. 150, no. 1, pp. 87-95, Jan. 2003
[12] Mariano S. J. P. and Ferreira L. A. F. M., Optimal Control: Load
Frequency Control of a Large Power System, in 2008 13th Int. Power
Electronics and Motion Control Conf., Poznan, EPE-PEMC 2008,
Poland, 1-3 Sept. 2008, pp. 2076-2081
[13] Mehdi Rahmani and Nasser Sadati, Two-level optimal load
frequency control for multi-area power systems, Elect. Power and
Energy Syst., vol.53, pp. 540-547, Dec. 2013
[14] J. A. Jaleel and T.P.I. Ahammed, "Simulation of artificial neural
network controller for automatic generation control of hydro electric
power system,"in 2008 IEEE Region 10 Conf., Hyderabad, TENCON
2008, 19-21 Nov. 2008, pp.1-4
[15] S. Bhongade, H. O. Gupta, H.O. and B. Tyagi, "Artificial neural
network based automatic generation control scheme for deregulated
electricity market," in 2010 Conf. Proc. IPEC, 27-29 Oct. 2010,
pp.1158-1163, doi: 10.1109/IPECON.2010.5696997
[16] Chang C.S, Weihui Fu, Area Load Frequency Control Using Fuzzy
Gain Scheduling of PI controllers, Elect. Power Syst. Res., vol. 42,
no. 2, pp 145-152, Aug. 1997
[17] C. Ertugrul and I. Kocaarslan, A fuzzy gain scheduling PI controller
application for an interconnected electrical power system, Elect.
Power Syst. Res., vol. 73, no. 3, pp. 267-274, Mar. 2005
[18] C. Ertugrul and I. Kocaarslan, Load frequency control in two area
power systems using fuzzy logic controller, Energy Convers.
Manage, vol. 46, no. 2, pp. 233-243, Jan. 2005
[19] Ilhan Kocarslan, Ertrugal Cam and Hassan Tirayaki, A Fuzzy logic
controller application for thermal power plant, Energy Convers.
Manage., vol. 47, no 4, pp. 442-458, Mar. 2006
[20] H. Shayeghi, H.A. Shayanfar and A. Jalili, Multi-stage fuzzy PID
power system automatic generation controller in deregulated
environments, Energy Convers. Manage., vol 47, no. 18-19, pp.
28292845, Nov. 2006
[21] Yamashita K and Miagi H Multi variable self-tuning regulator for
LFC system with interaction of voltage on load demand, IEE Proc
Control Theory Appl, vol. 138 no. 2, pp. 177183, Mar. 1991
[22] F.P. DeMello, R.J. Mills, and W.F. B'Rells, "Automatic Generation
Control Part II-Digital Control Techniques," IEEE Trans. Power App.
Syst., vol. PAS-92, no.2, pp. 716-724, Mar. 1973
[23] Aldeen M. and Marah J.F., Decentralized proportional-plus-integral
design method for inter-connected power systems, Generation,
Transmission and Distribution, IEE Proc. C , vol. 138, no. 4, pp.263-
274, Jul. 1991
[24] Rames C.Panda , "Synthesis of PID tuning rule using the desired
closed-loop response," Ind. Eng. Chem. Res., vol. 47, no.22,
pp.86848692, 2008
[25] Radek Matusu Application of fractional order calculus to control
Theory, Int. J. Of Mathematical Models And Methods In Applied
Sciences, vol. 5, no. 7, pp1162-1169, 2011
[26] Rinku Singhal, Subhransu Padhee, Gagandeep Kaur Design of
Fractional Order PID Controller for Speed Control of DC Motor, Int.
J. of Scientific and Research Publications, vol.2, no. 6, pp 1-8,
Jun. 2012
[27] Hyo-sung Ahn, Varsha Bhambhani and Yangquan Chen Fractional
Order integral and derivative controller for temperature profile
tracking, Sadhana, Indian Academy of Sciences, vol 34, part 5,
pp. 833-850, Oct. 2009
[28] Kadiyala V. K., Jathoth R.K. and Pothalaiah S. Design and
Implementation of Fractional Order PID Controller for Aerofin
Control System, IEEE 2009 World Congress on Nature &
Biologically Inspired Computing, Coimbatore, NaBIC 2009, India,
9-11 Dec. 2009, pp. 691-701
[29] Yinggan Tang, Mingyong Cui, Changchun Hua, Lixiang Li and Yixian
Yang Optimum design of fractional order PI

controller for AVR

system using chaotic ant swarm, Expert Systems with Applications,
vol. 39, no. 8, pp. 6887-6896, June 2012
[30] Majid Zamani, Masoud Karimi-Ghrtemani, Nasser Sadati,Mostafa
Parniani Design of fractional order PID controller for an AVR using
particle swarm optimization, Control Engineering Practice, vol. 17,
pp. 1380-1387, 2009
[31] Muwaffaq Irsheid Alomoush Load frequency control and automatic
generation control using fractional-order controllers, J. of Electr. Eng
Springer, vol. 91, pp 357-368, Jan. 2010,
[32] Sanjoy Debbarma, Lalit Chandra Saikia and Nidul Sinha AGC of a
multi-area thermal system under deregulated environment using a non-
integer controller, Electr. Power Syst. Res., vol. 95, pp.175-183,
Feb. 2013
[33] Ricardo Enrique Gutierrez, Joao Mauricio Rosario and Jose Tenreiro
Machado Fractional Order Calculus: Basic Concepts and Engineering
Applications, Mathematical Problems in Engineering, Hindawi
Publishing Corporation, vol. 2010, pp. 1-19, 2010
[34] A Cheraf Analogue realisation of Fractional order integrator,
differentiator and fractional PI

controller, IEE Proc. Control

Theory Applications, vol. 153, no. 6, Nov. 2006
[35] Yang Quan Chen, Ivo Petras and Dingyu Xue Fractional Order
Control- A Tutorial,in 2009 American Control Conference, St. Louis,
,ACC '09, Missouri, 10-12 Jan.2009, pp.1337-1411
[36] I. Podulubny, I. Petras, B.M. Vinagre, P. O. Leary and L. Dorcak
Analog Realisations of Fractional order Controllers, Non-linear
Dynamics, Springer, vol. 29, pp. 281-296, Jul. 2002
[37] D. P. Kothari and I. J. Nagrath, "Automatic genertion and voltage
control" in Power System Engineering, 2nd ed., 9th reprint, Tata
McGraw Hill Education Pvt. Ltd, New Delhi, India, 2010, ch. 8,
pp. 420-424
[38] Olle I. Elgerd The Energy System in Steady State- The Control
Problem in Electric Energy Systemes Theory - An Introduction, 2nd
ed., 23
rd
reprint, Tata McGraw Hill Education Pvt. Ltd, New Delhi,
India, 2004, ch. 9, pp. 310-328



557