Design of Optimal PID Controllers for Integrating Systems

The optimum tuning rules for various integrating systems with time delay in terms of the process model parameters using Differential Evolution (DE) algorithm are proposed. The objective function is integral performance index (integral time-weighted absolute error, ITAE) for both servo and regulatory problems. The performance and robustness of the proposed optimal controllers are compared with the controllers designed by recently reported methods. Simulation results on various transfer function models are given to show the efficiency of the proposed optimal controllers.