Estimation of parameters and tuning of a speed PI of permanent magnet DC motor using differential evolution

In this work, a system of parameter estimation and tuning of a speed PI controller of a permanent magnet DC motor using differential evolution is presented. Initially the algorithm estimates permanent magnet DC motor parameters, they are, armature resistance, armature inductance, constant of torque, coefficient of friction and moment of inertia. Later, with the parameters of the plant estimated, the algorithm tuned the best set of parameters of the PI controller, using the performance index of controllers ITAE. Experimental results are presented to validate the proposed method.