Robust Fractional Order Flow Control in an Oil Pipeline

V. Feliu-Batlle, Saddam Gharab, R. Rivas-Perez

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review


The robust fractional order oil flow control in an oil pipeline is addressed in this paper. An experimental identification based on a step like input was developed which yielded a second order transfer function with a zero and a time varying time delay. Controllers are subsequently designed with nominal phase margin and zero steady state error of the closed-loop step response specifications, plus robust damping expressed in terms of a maximum allowed variation of the phase margin of ±10% around the nominal value. We have considered integer and fractional order controllers. Rules to tune the parameters of these controllers have been obtained and a condition to get minimum phase closed-loop systems has been derived. We have shown that PI controllers verifying the three design conditions often yield undesired nonminimum phase closed-loop systems. This is avoided using the proposed fractional order controllers. Simulations carried out in this paper illustrate these results.

Original languageEnglish
Title of host publicationIFAC-PapersOnLine
EditorsHideaki Ishii, Yoshio Ebihara, Jun-ichi Imura, Masaki Yamakita
PublisherElsevier B.V.
Number of pages6
ISBN (Electronic)9781713872344
StatePublished - 1 Jul 2023
Externally publishedYes
Event22nd IFAC World Congress - Yokohama, Japan
Duration: 9 Jul 202314 Jul 2023

Publication series

ISSN (Electronic)2405-8963


Conference22nd IFAC World Congress


  • Robust fractional order controller
  • flow control
  • oil pipeline
  • system identification
  • time varying time delay


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