Gain Tuning of PID Controllers with the Dynamic Encoding Algorithm for Searches(DEAS) Based on the Constrained Optimization Technique

This paper proposes a design method of PID controllers in the framework of a constrained optimization problem. Owing to the popularity for the controller's simplicity and robustness, a great deal of literature concerning PID control design has been published, which can be classified into frequency-based and time-based approaches. However, both approaches have to be considered together for a designed PID control to work well with a guaranteed closed-loop stability. For this purpose, a penalty function is formulated to satisfy both frequency- and time-domain specifications, and is minimized by a recet nonlinear optimization algorithm to attain optimal PID control gains. The proposed method is compared with Wang's and Ho's methods on a suite of example systems. Simulation results show that the PID control tuned by the proposed method improves time-domain performance without deteriorating closed-loop stability.