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

Table 3

The results of the control performance obtained by PEO-FOPFC and PFC in simulation 1.

Fault	Case	Algorithm	IAE	ITAE	Md	Ess
Three constant faults	Case 1	PFC [16]	165.572	51.773	2.443	0.0511
		PEO-FOPFC	143.502	42.159	0.1296	0.0152
	Case 2	PFC [16]	205.998	68.744	3.435	0.1290
		PEO-FOPFC	163.051	49.112	0.9378	0.0207
	Case 3	PFC [16]	232.875	80.469	3.698	0.0706
		PEO-FOPFC	181.602	56.049	1.511	0.0180
Three time-varying faults	Case 4	PFC [16]	183.022	57.771	3.189	0.0317
		PEO-FOPFC	154.261	46.632	0.691	0.0252
	Case 5	PFC [16]	218.925	72.425	3.739	0.1219
		PEO-FOPFC	178.013	55.044	1.587	0.0220
	Case 6	PFC [16]	271.063	96.301	4.576	0.6553
		PEO-FOPFC	213.876	69.374	2.377	0.0429