OPTIMIZATION OF PD-PI CONTROLLER USING SWARM
INTELLIGENCE


1TUSHAR JAIN, 2M. J. NIGAM
1Student, Department of Electronics and Computer, IIT Roorkee, Uttarakhand, India-247667
2Assoc. Prof., Department of Electronics and Computer, IIT Roorkee, Uttarakhand, India-247667

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ABSTRACT
Sensitivity and Robustness is the primary issue while designing the controller for non-linear systems. One
of the performance objectives for controller design is to keep the error between the controlled output and
the set-point as small as possible. A comparison between Evolutionary Algorithms namely GAs (Genetic
Algorithms), and Swarm Intelligence i.e. PSO (Particle Swarm Optimization) and BG (Bacterial Foraging)
has been carried out on the basis of performance indices: ITAE (Integral Time Absolute Error), ISE
(Integral Square Error), IAE (Integral Absolute Error) and MSE (Mean Square Error) and settling time. In
this paper, the idea of model generation and optimization is explored for PD-PI controller. Most commonly
known, the highly nonlinear Inverted Pendulum system is used as a test system for this approach. The
simulations are tabulated in section IV to analyze which technique gives promising results for the system.


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