Hadi ebrahimi - Department of Electrical engineering, Gonabad Branch, Islamic Azad University, Gonabad, Iran
Saeed blochian - Department of Electrical Engineering, East Tehran Branch, Islamic Azad University, Tehran, Iran

An intelligent optimization method for designing Fractional Order PID (FOPID) controller's base Imperialist Competitive Algorithm (ICA) ear presented in this paper. Fractional calculus can provide novel and higher performance extension for FOPID controllers. However, the difficulties of designing FOPID controllers increase, because FOPID controllers append derivative order and integral order in comparison with traditional PID controllers. To design the parameters of FOPID controllers. Experimental results show the proposed design method can design effectively the parameters of FOPID controllers.

Imperialist Competitive Algorithm; Fractional order PID; fractional calculus; PID control; Inverted Pendulum