ISE based PID controller tuning for position control of DC servo-motor using LJ

In this contribution, PID controller is designed for position control of DC servo-motor using Integral-Square-Error (ISE) minimization. The ISE to be minimized is first written in terms of alpha and beta coefficients. This formulation of ISE requires only fixed numbers of alpha and beta coefficients in contrast to conventional formulation of ISE in which integration upto infinite time is needed. The ISE thus formulated is minimized using Luus-Jaakola (LJ) optimization algorithm. Further, the results of proposed method are compared with Ziegler-Nichols (ZN) settings. It is found that the proposed method is performing better when compared to ZN settings.