Self-Tuning PID Based on Genetic Algorithm for the Position Control of a Biomedical Actuator

The present paper gives an optimal tuning procedure for design of Proportional Integral Derivative (PID) controllers for an incremental linear actuator. Estimation of the optimal PID controller parameters: k
p
, k
i
and k
d
is carried out by minimizing performance criteria following ISE, IAE, ITAE and ITSE for a setpoint tracking problem. Results of the simulations for dynamic position response reveals using the ISE fitness function to search the parameters of the PID controller by genetic algorithm provides enhanced performance for the set-point tracking and of the temporal performance in terms of response time and rise time.