Effective auto-tuning Proportional-Integral controller based on a heuristic algorithm

This paper proposes an auto-tuning Proportional-Integral (PI) controller for the position control of a stepper motor. This method is based on a heuristic algorithm which finds the most suitable proportional and integral coefficients by testing the step responses of the system. Extra improvements can significantly reduce the number and interval of the testing steps, therefore minimizing the tuning time. The effectiveness of the new method is verified by experimental results.