Designing PI/PID controllers for a motion control system based on genetic algorithms

In this paper a design method which determines PI/PID parameters of motion control systems based on genetic algorithms (GAs) is presented. First, a brief review is given of an analytical procedure to obtain optimal PI/PID parameters by minimization of the integral of time multiplied-squared error in the frequency domain. Next, a computationally simple procedure based on real-coded GAs with appropriate operators is described and a synthesis method is proposed. Simulation results are given which show the validation of the design method.