Fractional Order controllers have been extensively applied to various fields of science and engineering, since several decades, because of the ability to control more parameters and consequent better control. However, to achieve this advantage, proper tuning of the associated parameters plays an important role. To achieve this objective, this paper employs a multi-agent symbiotic organisms search (MASOS) algorithm for appropriately tuning the parameters of fractional order proportional-integral-derivative (FOPID) controller for stabilizing a magnetic levitation plant (MLP) with time delay. Three different FOPID controllers have been precisely tuned and their performance has been evaluated and compared in this paper. The results demonstrate that the I-PD configuration produces the best performance in terms of time domain as well as frequency domain specifications, when compared with the other configurations.

中文翻译：

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具有时滞的磁悬浮装置的进化分数阶PID控制器的比较性能评估

几十年来，分数阶控制器已广泛应用于科学和工程的各个领域，因为它能够控制更多参数并因此进行更好的控制。然而，为了实现这一优势，相关参数的适当调整起着重要作用。为了实现这一目标，本文采用多智能体共生生物搜索 (MASOS) 算法来适当调整分数阶比例积分微分 (FOPID) 控制器的参数，以稳定具有时间延迟的磁悬浮设备 (MLP)。本文对三种不同的 FOPID 控制器进行了精确调整，并对它们的性能进行了评估和比较。