Particle swarm optimization based robust PID controller tuning scheme

A novel optimal tuning technique for robust PID controllers based on the augmented Lagrangian particle swarm optimization (ALPSO) is presented. To this aim, we first consider the problem on PID controller tuning satisfying ℋ∞ performance criteria. It suffers from computational intractability and conservatism when the existing methods are introduced. In the proposed approach, the ALPSO based optimal robust gain tuning technique for PID controllers is introduced in order to solve simply and directly such a design problem without using any complicated manipulations. The proposed scheme works without any conservative assumption required in the conventional methods, and also enables one to find a set of optimal gains by just solving the constrained optimization problem in a straightforward way. The numerical results demonstrate that our approach is not only computationally efficient but also considerably convenient to obtain a set of optimal PID controller parameters.