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

Table 5

The results of control performance obtained by FOPFC and PFC in Simulation 3.

	Case	Algorithm	IAE	ITAE	Md	Ess
Three constant faults	Case 1	FOPFC	167.798	52.217	2.098	0.0252
		GA-FOPFC	178.770	53.465	0.326	0.0436
		PSO-FOPFC	167.457	49.645	0.438	0.0248
		PEO-FOPFC	143.502	42.159	0.129	0.0152
	Case 2	FOPFC	204.480	67.094	3.018	0.0708
		GA-FOPFC	205.666	64.234	1.201	0.0360
		PSO-FOPFC	193.774	60.013	1.004	0.0261
		PEO-FOPFC	163.051	49.112	0.938	0.0207
	Case 3	FOPFC	231.065	78.484	3.312	0.0162
		GA-FOPFC	227.807	73.855	1.719	0.0155
		PSO-FOPFC	215.677	69.338	1.857	0.0221
		PEO-FOPFC	181.602	56.049	1.511	0.0180
Three time-varying faults	Case 4	FOPFC	180.799	56.268	2.381	0.0266
		GA-FOPFC	179.445	55.383	0.601	0.0360
		PSO-FOPFC	171.842	51.918	0.622	0.0360
		PEO-FOPFC	154.261	46.632	0.691	0.0252
	Case 5	FOPFC	213.976	69.688	2.981	0.0675
		GA-FOPFC	207.156	65.122	1.309	0.0884
		PSO-FOPFC	196.743	61.116	1.415	0.0316
		PEO-FOPFC	178.013	55.044	1.587	0.0220
	Case 6	FOPFC	267.114	94.254	4.270	0.5764
		GA-FOPFC	264.112	90.721	2.291	0.1552
		PSO-FOPFC	249.106	84.295	2.591	0.0306
		PEO-FOPFC	213.876	69.374	2.377	0.0429