Towards a Novel Nonlinear PID Controller Tuned with Particle Swarm Optimization with Improved Performance for First Order Plus Time Delay (FOPTD) Systems

Stefanos Charkoutsis, Mohamed Kara-Mohamed

2023

Abstract

The Proportional, Integral, and Derivative (PID) controller is ubiquitous in industry, facing nonlinear systems that it can struggle to compensate. The main limitation of PID is the trade-off between set-point tracking and disturbance rejection that causes control design issues affecting industrial outputs. This paper proposes a novel Nonlinear gains Proportional, Integral, and Derivative (NLPID) controller that shows improved results in the simultaneous set-point tracking and disturbance rejection, using time-varying gains, to control nonlinear systems. The paper also shows the performance of the proposed controller for the case of a First Order Plus Time Delay (FOPTD) system, which heavily exists in industry. The proposed NLPID controller is tuned using the Particle Swarm Optimization (PSO) algorithm. The proposed NLPID controller is simulated in MATLAB/Simulink and compared against PSO tuned PID controller (PSO PID), Internal Model Control based PID (IMC PID), and a PID controller with a nonlinear integral function gain (Son NLPID), for the FOPTD system. This study shows that the proposed NLPID provides a faster response, with minimized overshoot, maintaining excellent disturbance rejection without compromising stability or speed. The study also shows that the proposed NLPID controller is robust against parametric uncertainty.

Paper Citation

in Harvard Style

Charkoutsis S. and Kara-Mohamed M. (2023). Towards a Novel Nonlinear PID Controller Tuned with Particle Swarm Optimization with Improved Performance for First Order Plus Time Delay (FOPTD) Systems. In Proceedings of the 20th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO; ISBN 978-989-758-670-5, SciTePress, pages 25-33. DOI: 10.5220/0012173600003543

in Bibtex Style

@conference{icinco23,
author={Stefanos Charkoutsis and Mohamed Kara-Mohamed},
title={Towards a Novel Nonlinear PID Controller Tuned with Particle Swarm Optimization with Improved Performance for First Order Plus Time Delay (FOPTD) Systems},
booktitle={Proceedings of the 20th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO},
year={2023},
pages={25-33},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0012173600003543},
isbn={978-989-758-670-5},
}

in EndNote Style

TY - CONF

JO - Proceedings of the 20th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO
TI - Towards a Novel Nonlinear PID Controller Tuned with Particle Swarm Optimization with Improved Performance for First Order Plus Time Delay (FOPTD) Systems
SN - 978-989-758-670-5
AU - Charkoutsis S.
AU - Kara-Mohamed M.
PY - 2023
SP - 25
EP - 33
DO - 10.5220/0012173600003543
PB - SciTePress