Robust Tuning of PID Controller Using Bacterial-Foraging-Based Optimization
Dong Hwa Kim, and Jae Hoon Cho
Dept. of Instrumentation and Control Eng., Hanbat National University, 16-1 San Duckmyong-Dong Yuseong-Gu, Daejon City Seoul 305-719, Korea
We propose a design approach to PID controllers with resistance to external disturbance in motor-controlled systems using a bacterial foraging-based optimal algorithm. PID controllers are used to operate AC motor drives because of their practical implementation and simple structure. Inexperienced personnel find it difficult, however, to achieve optimal PID gain because this is manually tuned by trial and error in industrial environments full of disturbances. To design disturbance-resistance tuning, we use disturbance-resistance conditions based on H∞ and calculcate response the performance based on bacterial foraging for the PID controller as an integral of time-weighted squared error. Hence, parameters for the PID controller are selected by our bacterial foraging-based optimal algorithm to obtain the required response.