Fractional-Order Predictive Functional Control of Industrial Processes with Partial Actuator Failures

Table 2

The results of control performance obtained by FOPFC and PFC in simulation 2.

	Case	Algorithm	IAE	ITAE	Md	Ess
Three constant faults	Case 1	PFC [16]	165.572	51.773	2.443	0.0511
		FOPFC	167.798	52.217	2.098	0.0252
	Case 2	PFC [16]	205.998	68.744	3.435	0.1290
		FOPFC	204.480	67.094	3.018	0.0708
	Case 3	PFC [16]	232.875	80.469	3.698	0.0706
		FOPFC	231.065	78.484	3.312	0.0162
Three time-varying faults	Case 4	PFC [16]	183.022	57.771	3.189	0.0317
		FOPFC	180.799	56.268	2.381	0.0266
	Case 5	PFC [16]	218.925	72.425	3.739	0.1219
		FOPFC	213.976	69.688	2.981	0.0675
	Case 6	PFC [16]	271.063	96.301	4.576	0.6553
		FOPFC	267.114	94.254	4.270	0.5764