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In this paper, we present PID controller design methods for automatic voltage regulators. We use three improved particle swarm optimization for PID controllers with which the step response is optimally regulated for automatic voltage controllers. We compare three different versions of particle swarm optimizations, i.e., the modified original PSO, the crazy PSO and the chaotic PSO. Among three PSOs, the chaotic PSO has the best performance and the modified original PSO has second best performance and the crazy PSO has poor performance for the convergence and the optimal solutions.