Evaluating Fractional PID Control in a Nonlinear MIMO Model of a Hydroelectric Power Station

Figure 19

ITAE indexes of the comparison of the responses produced by PID and GS-PDF-FO (both with antiwindup) with unit 1 in frequency variation (connected to the grid) and units 2-6 with 0.85 p.u. of fix operational point, h=0.9 p.u.