An Auto-tuning of PID Controller in Consideration of Disturbance using Genetic Algorithms

유전 알고리즘을 이용한 외란을 고려한 PID제어기의 자동동조

In this paper, we propose a new method to deal with the optimized auto-tuning for the PID controller which is used to the process-control in various fields. First of all, in this method, 1st order delay system with dead time which is modelled from the unit step response of the system is $Pad'{e}$-approximated, then initial values are determined by the Ziegler-Nickels method. So deciding binary strings of parents generation using by the fitness values of genetic algorithms, we perform selection, crossover and mutation to generate the descendant generation. The advantage of this method is better than the Ziegler-Nickels method in characteristic of output, and has extent of applying without limit of K, L, T parameters.