Experimental evaluation of various modified Smith predictor-based fractional order control design strategies in control of a thermal process with time delay

In this study, a number of modified Smith predictor (SP)-based fractional order control strategies are investigated experimentally on a thermal process. Controller design methods and tuning strategies are elaborated step by step. Further, control strategies are discussed in relation to design specifications, control cost, implementation issues, and operating modes encountered in practice. Performance comparison is presented via several illustrations and numerical measures. Particular attention is paid to the tracking precision, quality of the control signal, robustness against disturbances and energy efficiency. Complementary comments are addressed based on merits and demerits of the each control technique.