Bio Inspired Modified Internal Model Control Approach for Improved Disturbance Rejection
of Piezo Micro Manipulator

Saikat Kumar SHOME^1,2*, Sandip JANA², Arpita MUKHERJEE^1,2, Partha BHATTARCHARJEE², Uma DATTA^1,2
¹Academy of Scientific and Innovative Research (AcSIR),
CSIR- Central Mechanical Engineering Research Institute (CSIR-CMERI) Campus,
Durgapur 713209, India
²CSIR-Central Mechanical Engineering Research Institute,
Ministry of Science and Technology, Govt of India,
Durgapur 713209, India
saikatkumarshome@gmail.com (^*Corresponding author)

ABSTRACT: Classical Internal Model Control based approach for controller design has been used in different industrial control applications as it allows good set point tracking performance, especially for processes neglecting time delay. However, in many process control applications including nonlinear piezo electric actuation (PZA), disturbance rejection plays an important role compared to set point tracking. The present research firstly proposes an optimal filter design in series with a Modified Internal Model Control (M-IMC) based Proportional -Integral-Derivative (PID) controller for better set point tracking, improved disturbance rejection with reduced controller hardware resource requirement compared to classical IMC. Two efficient swarm intelligence based evolutionary soft computational techniques viz. Particle Swarm Optimization (PSO) and Bacterial Foraging Optimization (BFO) are then exploited towards optimizing a control evaluation index based fitness function to design the M-IMC control parameters, including filter time constant. The distillation of bio inspired principles in control is seen to exhibit exciting results when the optimized parameters are utilized in the piezo plant modeled using a Dahl based second order system. The performance of the controller has been evaluated by subjecting the plant to several perturbations as well as to external disturbances. The results illustrate the efficiency of the PSO based M-IMC over other controllers.

KEYWORDS: Piezo actuator, Internal Model Control, Swarm, Disturbance, Dahl Model, PSO, BFO.

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CITE THIS PAPER AS:
Saikat Kumar SHOME, Sandip JANA, Arpita MUKHERJEE, Partha BHATTARCHARJEE, Uma DATTA, Bio Inspired Modified Internal Model Control Approach for Improved Disturbance Rejection of Piezo Micro Manipulator, Studies in Informatics and Control, ISSN 1220-1766, vol. 27(3), pp. 295-306, 2018. https://doi.org/10.24846/v27i3y201805