PID Controller Tuning with Two Degrees of Freedom by Particle Swarm Optimization

• Vitor C. Chagas UFMT
• João Pedro M. Araujo UFMT
• Daniel M. Cruz UFMT
• João Gustavo C. Pena UFMT

DOI: https://doi.org/10.5753/eri-mt.2023.236587

Abstract

While PID controllers are the most widely used in the industry and have a vast array of analytical and empirical tuning methods, the same cannot be said for two-degree-of-freedom PID controllers. Therefore, this article aims to assess the use of the PSO in tuning the parameters of this type of controller. In this study, the method employed seeks to find the optimal controller gain values applied to a set of first-order systems under the same simulation operating conditions, with the goal of improving performance criteria such as robustness and control loop stability, in other words, minimizing the cost function. The results obtained by the algorithm are compared with those obtained using classical empirical methods, specifically the CHR, IAE, and ITAE methods.

Keywords: 2DOF Controller, PID Tuning, PSO Algorithm, IAE, ITAE

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