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

Table 1

Specification of step response for advanced control design at Dinorwig [1, 3].

Test	Specification for single unit operation.	Single unit response with the governor reported in [3].	Single unit response with GS-AWU-PDF-FO.
P1	P1 ≥ 90% at = 10s	81% at 10s,	94.6 % at 10 s,
		90% at 13.7 s	90% at 8.3 s
P2	P2 ≤ 5% and ≤ 20s	No overshoot	No overshoot
P3	= 25s for P3 ≤ 1%	25.9 s	16.9 s
P4	= 60s for P4 ≤ 0.5%	29.2 s	19.3 s
P5	= 8s	12.1 s	7.64 s
P6	P6 = 2%	1.75%	2%
P7	= 1.5s	0.88 s	0.975 s