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Design of an H PID controller using particle swarm optimization

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Abstract

This paper proposes a novel method to designing an H PID controller with robust stability and disturbance attenuation. This method uses particle swarm optimization algorithm to minimize a cost function subject to H -norm to design robust performance PID controller. We propose two cost functions to design of a multiple-input, multiple-output (MIMO) and single-input, single-output (SISO) robust performance PID controller. We apply this method to a SISO flexible-link manipulator and a MIMO super maneuverable F18/HARV fighter aircraft system as two challenging examples to illustrate the design procedure and to verify performance of the proposed PID controller design methodology. It is shown with the MIMO super maneuverable F18/HARV fighter system that PSO performs well for parametric optimization functions and performance of the PSO-based method without prior domain knowledge is superior to those of existing GA-based and OSA-based methods for designing H PID controllers.

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Correspondence to Masoud Karimi Ghartemani.

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Recommended by Editorial Board member Jietae Lee under the direction of Editor Young-Hoon Joo. This work was supported by the Iranian Telecommunication Research Center (ITRC) under Grant T500-11629.

Majid Zamani received the B.Sc. and M.Sc. degrees in Electrical Engineering in 2005 and 2007 from Isfahan University of Technology, and Sharif University of Technology, Iran, respectively. Currently, He is a Ph.D. student in Electrical Engineer-ing Department of University of California, Los Angeles, U.S.A.

Nasser Sadati was born in Iran in 1960. He received the B.S. degree from Oklahoma State University, Stillwater, in 1982, and the M.S. and Ph.D. degrees from Cleveland State University, Cleveland, OH, USA, in 1985 and 1989, respectively, all in Electrical Engineering. From 1986 to 1987, he was with the NASA Lewis Research Center, Cleveland, to study the albedo effects on space station solar array. In 1989, he conducted postgraduate research at Case Western Reserve University, Cleveland, OH. Since 1990, he has been with the Sharif University of Technology, Tehran, Iran, where he is currently a Full Professor in the Department of Electrical Engineering, the Head of Control Group, and the Director of the Intelligent Systems Laboratory and the Co-Director of Robotics and Machine Vision Laboratory. He was the first to introduce the subject of fuzzy logic and intelligent control as course work in the universities engineering program in Iran. He has published two books in Persian and over 200 technical papers in peer-reviewed journals and conference proceedings, and is currently working on two more books in English (Intelligent Control of Large-Scale Systems) and Persian (Neural Networks). His research interests include intelligent control and soft computing, large-scale systems, robotics and pattern recognition. Dr. Sadati was the recipient of the Academic Excellence Award for 1998–1999 from the Sharif University of Technology. He is a Founding Member of the Iranian Journal of Fuzzy Systems (IJFS). He is the Founder and Chairman of the First Symposiums on Fuzzy Logic, and Intelligent Control and Soft Computing in Iran. He is the editorial board members of International Journal of Advances in Fuzzy Mathematics (AFM) and the Journal of Iranian Association of Electrical and Electronics Engineers (IAEEE). He also has served as the Co-Chair of the First International Conference on Intelligent and Cognitive Systems (ICICS’96). Dr. Sadati is a Founding Member of the Center of Excellence in Power System Management and Control (CEPSMC), Sharif University of Technology, Tehran, Iran and the Foreign Member of the Institute of Control, Robotics, and Systems (ICROS), Korea.

Masoud Karimi Ghartemani received the B.Sc. and M.Sc. in Electrical Engineering in 1993 and 1995 from Isfahan University of Technology, Iran, where he continued to work as a Teaching and Research Assistant until 1998. He received the Ph.D. degree in Electrical Engineering from University of Toronto in 2004. He was a Research Associate and a Post-doctoral Researcher in the Department of Electrical and Computer Engineering of the University of Toronto from 1998 to 2001 and from 2004 to 2005, respectively. He joined Sharif University of Technology, Tehran, Iran, in 2005 as a Faculty Member. His research topics include nonlinear and optimal control, novel control and signal processing techniques/algorithms for control and protection of modern power systems, power electronics, power system stability and control, and power quality.

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Zamani, M., Sadati, N. & Ghartemani, M.K. Design of an H PID controller using particle swarm optimization. Int. J. Control Autom. Syst. 7, 273–280 (2009). https://doi.org/10.1007/s12555-009-0213-9

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  • DOI: https://doi.org/10.1007/s12555-009-0213-9

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