PID CONTROLLER TUNING USING GENETIC ALGORITHM

A Major Project Report On

PID CONTROLLER TUNING USING GENETIC ALGORITHM

Submitte In Partia! "u!#i!!ment o# Re$uirement% "or T&e A'ar o# t&e De(ree o# MASTER OF ENGINEERING (CONTROL & INSTRUMENTATION) )* HARSH GUPTA Ro!! No+ ,-./ Un er t&e Super0i%ion o# MR. RAM BHAGAT

Department o# E!ectrica! En(ineerin( De!&i Co!!e(e o# En(ineerin( De!&i12233-4 4323

PID CONTROLLER TUNING USING GENETIC ALGORITHM

CERTIFICATE T&i% i% to certi#* t&at t&e 'or5 pre%ente in t&i% project entit!e PID CONTROLLER TUNING USING GENETIC ALGORITHM 6 %ubmitte in partia! #u!#i!!ment o# t&e re$uirement #or t&e a'ar o# t&e e(ree o# Ma%ter o# En(ineerin( in Contro! 7 In%trumentation b* HARSH GUPTA 83/9C7I93,: to t&e E!ectrica! En(ineerin( Department6 De!&i Co!!e(e o# En(ineerin( i% a recor o# t&e %tu ent;% o'n 'or5 carrie out un er m* %uper0i%ion an (ui ance< T&i% 'or5 &a% not been %ubmitte #or t&e a'ar o# an* ot&er e(ree or ip!oma<

RAM BHAGAT Lecturer E!ectrica! En(ineerin( Department De!&i Co!!e(e o# En(ineerin( De!&i12233-4

PID CONTROLLER TUNING USING GENETIC ALGORITHM

ACKNOWLEDGMENT

I am t&an5#u! to t&e A!mi(&t* Go becau%e 'it&out Hi% count!e%% b!e%%in(% t&i% 'or5 'ou! not &a0e been po%%ib!e< I 'ou! !i5e to e=pre%% m* eepe%t (ratitu e to Shri RAM BHAGAT6 m* project %uper0i%or #or &i% con%tant moti0ation6 in0a!uab!e (ui ance an encoura(ement urin( t&e entire uration o# t&i% project< It i% m* pri0i!e(e an &onour to &a0e 'or5e un er &i% %uper0i%ion< I 'ou! a!%o !i5e to t&an5% Dr. Par !" K# ar$ Pr!%&''!r E(&)*ri)a(

E+,i+&&ri+, D&-ar* &+*6 #or &i% %upport an encoura(ement< I 'ou! a!%o !i5e to t&an5% pro#e%%or Nar&+"ra .# ar6 HOD &(&)*ri)a( &+,i+&&ri+, "&-ar* &+*6 #or &i% %upport an encoura(ement< La%t but not !ea%t6 I am t&an5#u! to m* parent%6 teac&er%6 m* %ib!in(% an m* #rien % #or t&eir mora! %upport t&rou(&out<

HARSH GUPTA R!(( N!/ 0123 M.E (C&I)

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PID CONTROLLER TUNING USING GENETIC ALGORITHM

C!+*&+*'
Certi#ication O# Di%%ertation Ac5no'!e (ement% Li%t% o# "i(ure% Li%t% o# Tab!e% Ab%tract 2 Intro uction 2<2 2<4 2</ 4 Project Aim% an Objecti0e%< )ac5(roun < Literature% Re0ie'%< 24 24 24 2> 43 43 42 44 4/
4

4 / > ? 23

Genetic A!(orit&m 4<2 Intro uction< 4<4 C&aracteri%tic% o# GA%< 4</ Popu!ation Si@e< 4<- Repro uction<

PID CONTROLLER TUNING USING GENETIC ALGORITHM

4<. Cro%%o0er< 4<A Mutation< 4<> Summar* o# Genetic A!(orit&m Proce%%< 4<, E!iti%m< 4<? Objecti0e "unction or "itne%% "unction< 4<23 App!ication o# GA% in Contro! En(ineerin(< / PID Contro!!er /<2 Intro uction< /<4 PID Contro!!er< /</ Continuou% PID Contro!< Optimi@in( o# PID Contro!!er -<2 Intro uction< -<4 De%i(nin( PID Parameter%< -</ Ana!*%i% o# t&e C!a%%ica!!* De%i(ne Contro!!er< -<- Optimi@in( O# t&e De%i(ne PID Contro!!er< . De%i(nin( o# PID u%in( Genetic A!(orit&m .<2 Intro uction<

44> 4, /3 /3 /2 /4 /4 // //A /A /> -.2 .> .>

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PID CONTROLLER TUNING USING GENETIC ALGORITHM

.<4 Initia!i@in( t&e Popu!ation o# t&e Genetic A!(orit&m< ., .</ Settin( T&e GA Parameter%< .<- Per#ormin( T&e Genetic A!(orit&m< .<. T&e Objecti0e "unction o# t&e Genetic A!(orit&m< .<A Re%u!t% o# t&e Imp!emente GA PID Contro!!er< A "urt&er Bor5% an Conc!u%ion A<2 "urt&er Bor5%< A<4 Conc!u%ion%< Re#erence% Appen i= < A3 A/ AA> >> >> >> ,3 ,4

PID CONTROLLER TUNING USING GENETIC ALGORITHM

Li'* O% Fi,#r&'
"i(ure 2 < T*pica! Turbine Spee Contro!< "i(ure 4 < Depiction o# Rou!ette B&ee! Se!ection< "i(ure / < I!!u%tration O# Cro%%o0er< "i(ure - < I!!u%tration O# Mu!ti1Point Cro%%o0er< "i(ure . < I!!u%tration O# A Uni#orm Cro%%o0er< "i(ure A < I!!u%tration O# Mutation Operation< "i(ure > < Genetic A!(orit&m Proce%% "!o'c&art< "i(ure , < Sc&ematic O# T&e PID Contro!!er < Non1Inter#acin( "orm< "i(ure ? < )!oc5 Dia(ram O# Continuou% PID Contro!!er< "i(ure 23 < I!!u%tration O# Su%taine O%ci!!ation Bit& Perio Per< "i(ure 22 < )!oc5 Dia(ram O# Contro!!er An P!ant< "i(ure 24 < I!!u%tration O# C!o%e Loop Tran%#er "unction< "i(ure 2/ < Simp!i#ie S*%tem< "i(ure 2- < Unit Step Re%pon%e O# T&e De%i(ne S*%tem "i(ure 2. < Impro0e S*%tem Re%pon%e<

PID CONTROLLER TUNING USING GENETIC ALGORITHM

"i(ure 2A < <Optimi@e < S*%tem Re%pon%e< "i(ure 2> < Optimi@ation Bit& Steepe%t De%cent Gra ient Met&o < "i(ure 2, < Error Si(na! O# T&e Optimi@e S*%tem< "i(ure 2? < Initia!i@e T&e GA< "i(ure 43 < Parameter% Settin( O# GA< "i(ure 42 < Per#ormin( T&e GA< "i(ure 44 < I!!u%tration O# Genetic A!(orit&m Con0er(in( T&rou(& Generation%< "i(ure 4/ < Objecti0e "unction< "i(ure 4- < Ca!cu!atin( T&e Error O# T&e S*%tem U%in( MSE Citeria< "i(ure 4. << Stabi!it* O# T&e Contro!!e S*%tem< "i(ure 4A < PID Re%pon%e Bit& Popu!ation Si@e O# 43< "i(ure 4> < Ana!*%i% O# PID Re%pon%e Bit& Popu!ation Si@e O# 43< "i(ure 4, < PID Re%pon%e Bit& Popu!ation Si@e O# -3< "i(ure 4? < Ana!*%i% O# PID Re%pon%e Bit& Popu!ation Si@e O# -3< "i(ure /3 < Ana!*%i% O# PID Re%pon%e Bit& Popu!ation Si@e O# A3< "i(ure /2 < PID Re%pon%e Bit& Popu!ation Si@e O# ,3< "i(ure /4 < Ana!*%i% O# PID Re%pon%e Bit& Popu!ation Si@e O# ,3<
8

PID CONTROLLER TUNING USING GENETIC ALGORITHM

Li'* O% Ta4(&'
Tab!e 2 < Rout& Arra*< Tab!e 4 < Recommen e PID Ca!ue Settin(< Tab!e /< Re%u!t% O# SDGM De%i(ne Contro!!er< Contro!!er An GA De%i(ne

A4'*ra)*
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PID CONTROLLER TUNING USING GENETIC ALGORITHM

It i% 5no'n t&at PID contro!!er i% emp!o*e in e0er* #acet o# in u%tria! automation< T&e app!ication o# PID contro!!er %pan #rom %ma!! in u%tr* to &i(& tec&no!o(* in u%tr*< "or t&o%e '&o are in &ea0* in u%trie% %uc& a% re#inerie% an %&ip1bui! in(%6 'or5in( 'it& PID contro!!er i% !i5e a routine 'or5< Hence &o' o 'e optimi@e t&e PID contro!!erD Do 'e %ti!! tune t&e PID a% '&at 'e u%e to #or e=amp!e u%in( t&e c!a%%ica! tec&ni$ue t&at &a0e been tau(&t to u% !i5e Eie(!er1Nic&o!% met&o D Or o 'e ma5e u%e o# t&e po'er o# computin( 'or! b* tunin( t&e PID in a %toc&a%tic mannerD In t&i% i%%ertation6 it i% propo%e t&at t&e contro!!er be tune u%in( t&e Genetic A!(orit&m tec&ni$ue< Genetic A!(orit&m% 8GA%: are a %toc&a%tic (!oba! %earc& met&o t&at emu!ate% t&e proce%% o# natura! e0o!ution< Genetic A!(orit&m% &a0e been %&o'n to be capab!e o# !ocatin( &i(& per#ormance area% in comp!e= omain% 'it&out e=periencin( t&e i##icu!tie% a%%ociate 'it& &i(& imen%iona!it* or #a!%e optima a% ma* occur 'it& (ra ient ecent tec&ni$ue%< U%in( (enetic a!(orit&m% to per#orm t&e tunin( o# t&e contro!!er 'i!! re%u!t in t&e optimum contro!!er bein( e0a!uate #or t&e %*%tem e0er* time< "or t&i% %tu *6 t&e mo e! %e!ecte i% o# turbine %pee contro! %*%tem< T&e rea%on #or t&i% i% t&at t&i% mo e! i% o#ten encountere in re#inerie% in a #orm o# %team turbine t&at u%e% &* rau!ic (o0ernor to contro! t&e %pee o# t&e turbine< T&e PID contro!!er o# t&e mo e! 'i!! be e%i(ne u%in( t&e c!a%%ica! met&o an t&e re%u!t% ana!*@e < T&e %ame mo e! 'i!! be re e%i(ne u%in( t&e GA met&o < T&e re%u!t% o# bot& conc!u%ion 'i!! be ra'n out<
10

e%i(n% 'i!! be compare 6 ana!*@e

an

PID CONTROLLER TUNING USING GENETIC ALGORITHM

Cha-*&r 5
INTRODUCTION
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PID CONTROLLER TUNING USING GENETIC ALGORITHM

5.5 Pr!6&)* Ai ' a+" O46&)*i7&'

T&e aim o# t&i% project i% to e%i(n a p!ant u%in( Genetic A!(orit&m< B&at i% Genetic A!(orit&mD Genetic A!(orit&m or in %&ort GA i% a %toc&a%tic a!(orit&m ba%e on princip!e% o# natura! %e!ection an (enetic%< Genetic A!(orit&m% 8GA%: are a %toc&a%tic (!oba! %earc& met&o t&at mimic% t&e proce%% o# natura! e0o!ution< Genetic A!(orit&m% &a0e been %&o'n to be capab!e o# !ocatin( &i(& per#ormance area% in comp!e= omain% 'it&out e=periencin( t&e i##icu!tie% a%%ociate 'it& &i(& imen%iona!it* or #a!%e optima a% ma* occur 'it& (ra ient ecent tec&ni$ue%< U%in( (enetic a!(orit&m% to per#orm t&e tunin( o# t&e contro!!er 'i!! re%u!t in t&e optimum contro!!er bein( e0a!uate #or t&e %*%tem e0er* time< T&e objecti0e o# t&i% project i% to %&o' t&at b* emp!o*in( t&e GA met&o o# tunin( a p!ant6 an optimi@ation can be ac&ie0e < T&i% can be %een b* comparin( t&e re%u!t o# t&e GA optimi@e p!ant a(ain%t t&e c!a%%ica!!* tune p!ant<

5.8

Ba).,r!#+"

In re#inerie%6 in c&emica! p!ant% an ot&er in u%trie% t&e (a% turbine i% a 'e!! 5no'n too! to ri0e compre%%or%< T&e%e compre%%or% are norma!!* o# centri#u(a! t*pe< T&e* con%ume muc& po'er ue to t&e #act t&at 0er* !ar(e 0o!ume #!o'% are &an !e < T&e combination (a% turbine1compre%%or i% &i(&!* re!iab!e< Hence t&e turbine1compre%%or p!a* %i(ni#icant ro!e in t&e operation o# t&e p!ant%<
12

PID CONTROLLER TUNING USING GENETIC ALGORITHM

Spee SP HPS

E!ectronic Go0ernor Contro! S*%tem

Spee Si(na! 8PC: (MV) Contro! Ca!0e Openin(

GT Turbine F

Co mpr e%% or "i(2< T*pica! Turbine Spee Contro!<

In t&e abo0e %et up6 t&e &i(& pre%%ure %team 8HPS: i% u%ua!!* u%e to ri0e t&e turbine< T&e turbine '&ic& i% coup!e to t&e compre%%or 'i!! t&en ri0e t&e compre%%or< T&e &* rau!ic (o0ernor '&ic&6 act% a% a contro! 0a!0e 'i!! be u%e to t&rott!e t&e amount o# %team t&at i% (oin( to t&e turbine %ection< T&e (o0ernor openin( i% bein( contro!!e b* a PID '&ic& i% in t&e e!ectronic (o0ernor contro! pane!<

It i% a 5no'n #act t&at t&e PID contro!!er i% emp!o*e in e0er* #acet o# in u%tria! automation< T&e app!ication o# PID contro!!er %pan #rom %ma!!
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PID CONTROLLER TUNING USING GENETIC ALGORITHM

in u%tr* to &i(& tec&no!o(* in u%tr*< "or t&o%e '&o are in &ea0* in u%trie% %uc& a% re#inerie% an %&ip bui! in(%6 'or5in( 'it& PID contro!!er i% !i5e a routine 'or5< Hence &o' o 'e optimi@e t&e PID contro!!erD Do 'e %ti!! tune t&e PID a% '&at 'e u%e to #or e=amp!e u%in( t&e c!a%%ica! tec&ni$ue t&at &a0e been tau(&t to u% !i5e Eie(!er1Nic&o!% met&o D Or o 'e ma5e u%e o# t&e po'er o# computin( 'or! b* tunin( t&e PID in a %toc&a%tic mannerD In t&i% project6 it i% propo%e t&at t&e contro!!er be tune u%in( t&e Genetic A!(orit&m tec&ni$ue< U%in( (enetic a!(orit&m% to per#orm t&e tunin( o# t&e contro!!er 'i!! re%u!t in t&e optimum contro!!er bein( e0a!uate %*%tem e0er* time< "or t&i% %tu *6 t&e mo e! %e!ecte i% o# turbine %pee contro! %*%tem< T&e rea%on #or t&i% i% t&at t&i% mo e! i% o#ten encountere in re#inerie% in a #orm o# %team turbine t&at u%e% &* rau!ic (o0ernor to contro! t&e %pee o# t&e turbine a% i!!u%trate abo0e in #i(ure 2< T&e comp!e=itie% o# t&e e!ectronic (o0ernor contro!!er 'i!! not be ta5en into con%i eration in t&i% i%%ertation< T&e e!ectronic (o0ernor contro!!er i% a bi( %ubject b* it%e!# an it i% be*on t&e %cope o# t&i% %tu *< Ne0ert&e!e%% t&i% %tu * 'i!! #ocu% on t&e mo e! t&at ma5e% up t&e %team turbine an t&e &* rau!ic (o0ernor to contro! t&e %pee o# t&e turbine< In t&e conte=t o# re#inerie%6 *ou can con%i er t&e %team turbine a% t&e &eart o# t&e p!ant< T&i% i% ue to t&e #act t&at in t&e re#inerie%6 t&ere are !ot% o# &i(& capacitie% compre%%or% runnin( on %team turbine< Hence t&i% ma5e% t&e contro! an t&e tunin( optimi@ation o# t&e %team turbine %i(ni#icant< #or t&e

14

PID CONTROLLER TUNING USING GENETIC ALGORITHM

In t&i% project6 it 'i!! be %&o'n t&at t&e GA tune PID 'i!! re%u!t in a better optimi@ation o# t&e proce%%< Here i% a brie# e%cription o# &o' GA 'or5%< AGA i% t*pica!!* initia!i@e 'it& a ran om popu!ation con%i%tin( o# bet'een 431233 in i0i ua!%< T&i% popu!ation or matin( poo! i% u%ua!!* repre%ente b* area!10a!ue number or a binar* %trin( ca!!e a c&romo%ome< Ho' 'e!! an in i0i ua! per#orm% a ta%5 i% mea%ure an a%%e%%e b* t&e objecti0e #unction< T&e objecti0e #unction a%%i(n% eac& in i0i ua! a corre%pon in( number ca!! e it% #itne%%< T&e #itne%% o# eac& c&romo%ome i% a%%e%%e an a %ur0i0a! o# t&e #itte%t %trate(* i% app!ie < T&ere are t&ree main %ta(e% o# a (enetic a!(orit&m6t&e%e are 5no'n a% reproduction, crossover an mutation< Durin( t&e reproduction p&a%e t&e #itne%% 0a!ue o# eac& c&romo%ome i% a%%e%%e < T&i% 0a!ue i% u%e in t&e %e!ection proce%% to pro0i e bia% to'ar % #itter in i0i ua!%< Gu%t !i5e in natura! e0o!ution6 a #it c&romo%ome &a% a &i(&er probabi!it* o# bein( %e!ecte #or repro uction< T&i% continue% unti! t&e %e!ection criterion &a% been met< T&e probabi!it* o# an in i0i ua! bein( %e!ecte i% t&u% re!ate to it% #itne%%6 en%urin( t&at #itter in i0i ua!% are more !i5e!* to !ea0e o##%prin(< Mu!tip!e copie% o# t&e %ame %trin( ma* be %e!ecte #or repro uction an t&e #itter %trin(% %&ou! be(in to ominate< Once t&e %e!ection proce%% i% comp!ete6 t&e crossover a!(orit&m i% initiate < T&e cro%%o0er operation% %'ap% certain part% o# t&e t'o %e!ecte %trin(% in a bi to capture t&e (oo part% o# o! c&romo%ome% an create better ne' one%< Genetic operator% manipu!ate t&e c&aracter% o# a c&romo%ome irect!*6 u%in( t&e a%%umption t&at certain in i0i ua!;% (ene co e%6 on a0era(e6 pro uce #itter in i0i ua!%< T&e cro%%o0er probabi!it* in icate% &o' o#ten cro%%o0er i% per#orme < A probabi!it* o# 3H mean% t&at t&e <o##%prin(< 'i!!

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PID CONTROLLER TUNING USING GENETIC ALGORITHM

be e=act rep!ica% o# t&eir <parent%< A probabi!it* o# 233H mean% t&at eac& (eneration 'i!! be compo%e o# entire!* ne' o##%prin(< U%in( %e!ection an cro%%o0er on t&eir o'n 'i!! (enerate a !ar(e amount o# i##erent %trin(%< Ho'e0er t&ere are t'o main prob!em% 'it& t&i%+ 2< Depen in( on t&e initia! popu!ation c&o%en6 t&ere ma* not be enou(& i0er%it* in t&e initia! %trin(% to en%ure t&e GA %earc&e% t&e entire prob!em %pace< 4< T&e GA ma* con0er(e on %ub1optimum %trin(% ue to a ba c&oice o# initia! popu!ation< T&e%e prob!em% ma* be o0ercome b* t&e intro uction o# a mutation operator into t&e GA< Mutation i% t&e occa%iona! ran om a!teration o# a 0a!ue o# a %trin( po%ition< It i% con%i ere mutation rate 'ou! a bac5(roun operator in t&e (enetic a!(orit&m< T&e probabi!it* o# mutation i% norma!!* !o' becau%e a &i(& e%tro* #it %trin(% an e(enerate t&e (enetic a!(orit&m into a ran om %earc&< Mutation probabi!it* 0a!ue% o# aroun 3<2H or 3<32H are common6 t&e%e 0a!ue% repre%ent t&e probabi!it* t&at a certain %trin( 'i!! be %e!ecte #or mutation #or an e=amp!e #or a probabi!it* o# 3<2HI one %trin( in one t&ou%an 'i!! be %e!ecte #or mutation< Once a %trin( i% %e!ecte #or mutation6 a ran om!* c&o%en e!ement o# t&e %trin( i% c&an(e or mutate <

5.3 Li*&ra*#r&' R&7i&9'

T&e #o!!o'in(% are t&e #e' boo5% an paper% t&at 'ere re#erre to6 in t&e proce%% o# un erta5in( t&i% project< "or t&e un erta5in( o# &i% project6 t&orou(& rea in( o# Genetic A!(orit&m i% re$uire be#ore t&e project can
16

PID CONTROLLER TUNING USING GENETIC ALGORITHM

commence%< Hence a compre&en%i0e re%earc& #or re%ource% are re$uire an t&e #o!!o'in( are %ome o# t&e !iterature% t&at &a% %ome&o' contribute to m* un er%tan in( o# t&e contro! %*%tem an t&e (enetic a!(orit&m in %peci#ic<

B!!.'
Da0i E< Go! ber(6 Genetic Algorithms in Search, Optimization and

Machine Learning< T&e Uni0er%it* o# A!abama6 A i%on1Be%!e* Pub!i%&in( Compan* Inc6 2?,?< Go&n Lei%6 Digital Signal Processing . A MATLAB-Based Tutorial Approach6 Uni0er%it* o# Sout&ern Jueen%!an 6 Re%earc& Stu ie% Pre%% Limite 6 4334< F< A%trom an T Ha((!un 6 P D !ontrollers" Theor#, Design and Tuning6 Prentice Ha!!6 2?,>< F O(ata6 Discrete-Time !ontrol S#stems6 Uni0er%it* o# Minne%ota6 Prentice Ha!!6 2?,-<

:!#r+a('
T O< Ma&on*6 C G Do'nin( an F "at!a6 Genetic Algorithm $or P D Parameter Optimization" Minimizing %rror !riteria 6 Proce%% Contro! an In%trumentation 4333 4A14, Gu!* 43336 Uni0er%it* o# Stract&c!* e6 p( 2-,1 2./<

17

PID CONTROLLER TUNING USING GENETIC ALGORITHM

C&ipper #ie! 6 A< G<6 "!emin(6 P< G< Po&!&eim6 H< an "on%eca6 C< M<6 A Genetic Algorithm Tool&o' $or MATLAB6 Proc< Internationa! Con#erence on S*%tem% En(ineerin(6 Co0entr*6 UF6 A1, September6 2??-< J Ban(6 P Spronc5 an R Trac&t6 An O(er(ie) O$ Genetic Algorithms Applied To !ontrol %ngineering Pro&lems6 Procee in(% o# t&e Secon Internationa! Con#erence on Mac&ine Learnin( An C*bernetic%6 433/< F< Fri%&na 5umar an D< E< Go! ber(6 !ontrol S#stem Optimization *sing Genetic Algorithms6 Gourna! o# Gui ance6 Contro! an D*namic%6 Co!< 2.6No< /6 pp< >/.1>-36 2??/< A< Car%e56 T< Urbacic an )< "i!ipic6 Genetic Algorithms in !ontroller Design and Tuning6 IEEE Tran%< S*%< Man an C*ber6 Co!< 4/6 No< .6 pp2//312//?6 2??-< "rom t&e rea in( o# t&e abo0e an not inc!u%i0e6 it i% #oun t&at GA% are not (uarantee to #in t&e (!oba! optimum %o!ution to a prob!em6 but t&e* are (enera!!* (oo at #in in( acceptab!* (oo %o!ution% to prob!em% in acceptab!* $uic5!* B&ere %pecia!i@e tec&ni$ue% e=i%t #or %o!0in( particu!ar prob!em%6 t&e* are !i5e!* to out1per#orm GA% in bot& %pee an accurac* o# t&e #ina! re%u!t6 %o t&ere i% no b!ac5 ma(ic in e0o!utionar* computation< T&ere#ore GA% %&ou! be u%e '&en t&ere i% no ot&er 5no'n e##icient prob!em %o!0in( %trate(*< Ho'e0er in t&i% project6 GA i% %ti!! u%e a% t&e pre#erre optimi@e met&o in optimi@in( t&e turbine %pee contro! %*%tem< Kou 'i!! %ee t&at %ome ot&er optimi@ation met&o can be better in certain area% o# app!ication an GA can be better in anot&er app!ication< Hence t&ere i% no #a%t an $uic5 ru!e to

18

PID CONTROLLER TUNING USING GENETIC ALGORITHM

'&ic& optimi@ation met&o % to u%e< It a!! epen % on app!ication an t&e comp!ication in t&e imp!ementation o# t&e optimi@e a!(orit&m<

Cha-*&r 8
G&+&*i) A(,!ri*h
8.5 I+*r!"#)*i!+

19

PID CONTROLLER TUNING USING GENETIC ALGORITHM

Genetic A!(orit&m% 8GA<%: are a %toc&a%tic (!oba! %earc& met&o

t&at

mimic% t&e proce%% o# natura! e0o!ution< It i% one o# t&e met&o % u%e #or optimi@ation< Go&n Ho!!an #orma!!* intro uce t&i% met&o in t&e Unite State% in t&e 2?>3at t&e Uni0er%it* o# Mic&i(an< T&e continuin( per#ormance impro0ement% o# computationa! %*%tem% &a% ma e t&em attracti0e #or %ome t*pe% o# optimi@ation< T&e (enetic a!(orit&m %tart% 'it& no 5no'!e (e o# t&e correct %o!ution an epen % entire!* on re%pon%e% #rom it% en0ironment an e0o!ution operator% %uc& a% repro uction6 cro%%o0er an mutation to arri0e at t&e be%t %o!ution< )* %tartin( at %e0era! in epen ent point% an %earc&in( in para!!e!6 t&e a!(orit&m a0oi % !oca! minima an con0er(in( to %ub optima! %o!ution%< In t&i% 'a*6 GA% &a0e been %&o'n to be capab!e o# !ocatin( &i(& per#ormance area% in comp!e= omain% 'it&out e=periencin( t&e i##icu!tie% a%%ociate 'it& &i(& imen%iona!it*6 a% ma* occur 'it& (ra ient ecent tec&ni$ue% or met&o % t&at re!* on eri0ati0e in#ormation<

8.8 Chara)*&ri'*i)' !% G&+&*i) A(,!ri*h

Genetic A!(orit&m% are %earc& an optimi@ation tec&ni$ue% in%pire b* t'o bio!o(ica! princip!e% name!* t&e proce%% o# <natura! %e!ection< an t&e mec&anic% o# <natura! (enetic%<< GA% manipu!ate not ju%t one potentia! %o!ution to a prob!em but a co!!ection o# potentia! %o!ution%< T&i% i% 5no'n
20

PID CONTROLLER TUNING USING GENETIC ALGORITHM

a% popu!ation< T&e potentia! %o!ution in t&e popu!ation i% ca!!e <c&romo%ome%<< T&e%e c&romo%ome% are t&e enco e repre%entation% o# a!! t&e parameter% o# t&e %o!ution< Eac& C&romo%ome% i% compare to ot&er c&romo%ome% in t&e popu!ation an a'ar e #itne%% ratin( t&at in icate% &o' %ucce%%#u! t&i% c&romo%ome% to t&e !atter< To enco e better %o!ution%6 t&e GA 'i!! u%e <(enetic operator%< or <e0o!ution operator% %uc& a% cro%%o0er an mutation #or t&e creation o# ne' c&romo%ome% #rom t&e e=i%tin( one% in t&e popu!ation< T&i% i% ac&ie0e b* eit&er mer(in( t&e e=i%tin( one% in t&e popu!ation or b* mo i#*in( an e=i%tin( c&romo%ome%< T&e %e!ection mec&ani%m #or parent c&romo%ome% ta5e% t&e #itne%% o# t&e parent into account< T&i% 'i!! en%ure t&at t&e better %o!ution 'i!! &a0e a &i(&er c&ance to procreate an o##%prin(< A (enetic a!(orit&m i% t*pica!!* initia!i@e 'it& a ran om popu!ation onate t&eir bene#icia! c&aracteri%tic to t&eir

con%i%tin( o# bet'een 431233 in i0i ua!%< T&i% popu!ation or a!%o 5no'n a% matin( poo! i% u%ua!!* repre%ente b* a rea!10a!ue number or a binar* %trin( ca!!e a c&romo%ome< "or i!!u%trati0e purpo%e%6 t&e re%t o# t&i% %ection repre%ent% eac& c&romo%ome a% a binar* %trin(< Ho' 'e!! an in i0i ua! per#orm% a ta%5 i% mea%ure an a%%e%%e b* t&e objecti0e #unction< T&e objecti0e #unction a%%i(n% eac& in i0i ua! a corre%pon in( number ca!!e it% #itne%%< T&e #itne%% o# eac& c&romo%ome i% a%%e%%e an a %ur0i0a! o# t&e #itte%t %trate(* i% app!ie < In t&i% project6 t&e ma(nitu e o# t&e error 'i!! be u%e to a%%e%% t&e #itne%% o# eac& c&romo%ome<
21

PID CONTROLLER TUNING USING GENETIC ALGORITHM

T&ere are t&ree main %ta(e% o# a (enetic a!(orit&m< T&e%e are 5no'n a% reproduction, crosso(er an mutation< T&i% 'i!! be e=p!aine in etai!% in t&e #o!!o'in( %ection<

8.3 P!-#(a*i!+ Si;&

Determinin( t&e number o# popu!ation i% t&e one o# t&e important %tep in GA< T&ere are man* re%earc& paper% t&at 'e!! in t&e %ubject< Man* t&eorie% &a0e been ocumente an e=periment% recor e < Ho'e0er t&e matter o# t&e #act i% t&at more an more t&eorie% an

e=periment% are con ucte an te%te an t&ere i% no #a%t an t&umb ru!e 'it& re(ar % to '&ic& i% t&e be%t met&o to a opt< "or a !on( time t&e eci%ion on t&e popu!ation %i@e i% ba%e on tria! an error< In t&i% project t&e approac& in eterminin( t&e popu!ation i% rat&er

un%cienceti#ic< "rom m* rea in( o# 0ariou% paper%6 it %u((e%te t&at t&e %a#e popu!ation %i@e i% #rom /3 to 233< In t&i% project an initia! popu!ation o# 43 'ere u%e an t&e re%u!t ob%er0e < T&e re%u!t 'a% not promi%in(< Hence an initiati0e o# -36 A36 ,3 an ?3 %i@e o# popu!ation 'ere e=perimente < It 'a% ob%er0e t&at t&e popu!ation o#,3 %eem% to be a (oo (ue%%< Popu!ation o# ?3 an abo0e oe% not re%u!t% in an* #urt&er optimi@ation<

8.1 R&-r!"#)*i!+
22

PID CONTROLLER TUNING USING GENETIC ALGORITHM

Durin( t&e repro uction p&a%e t&e #itne%% 0a!ue o# eac& c&romo%ome i% a%%e%%e < T&i% 0a!ue i% u%e in t&e %e!ection proce%% to pro0i e bia% to'ar % #itter in i0i ua!%< Gu%t !i5e in natura! e0o!ution6 a #it c&romo%ome &a% a &i(&er probabi!it* o# bein( %e!ecte #or repro uction< An e=amp!e o# a a% common %e!ection tec&ni$ue i% t&e <+oulette ,heel %e!ection met&o

%&o'n in "i(ure 4< Eac& in i0i ua! in t&e popu!ation i% a!!ocate a %ection o# a rou!ette '&ee!< T&e %i@e o# t&e %ection i% proportiona! to t&e #itne%% o# t&e in i0i ua!< A pointer i% %pun an t&e in i0i ua! to '&om it point% i% %e!ecte < T&i% continue% unti! t&e %e!ection criterion &a% been met< T&e probabi!it* o# an in i0i ua! bein( %e!ecte i% t&u% re!ate to it% #itne%%6 en%urin( t&at #itter in i0i ua!% are more !i5e!* to !ea0e o##%prin(< Mu!tip!e copie% o# t&e %ame %trin( ma* be %e!ecte #or repro uction an t&e #itter %trin(% %&ou! be(in to ominate< Ho'e0er6 #or t&e %ituation i!!u%trate in #i(ure6 it i% not imp!au%ib!e #or t&e 'ea5e%t %trin( 832332: to ominate t&e %e!ection proce%%<

35% 2>H 32223 -?H 23333

32332

23

PID CONTROLLER TUNING USING GENETIC ALGORITHM

"i(ure 4< Depiction o# rou!ette '&ee! %e!ection T&ere are a number o# ot&er %e!ection met&o % a0ai!ab!e an it i% up to t&e u%er to %e!ect t&e appropriate one #or eac& proce%%< A!! %e!ection met&o % are ba%e on t&e %ame principa! t&at i% (i0in( #itter c&romo%ome% a !ar(er probabi!it* o# %e!ection< "our common met&o % #or %e!ection are+ 2< Rou!ette B&ee! %e!ection 4< Stoc&a%tic Uni0er%a! %amp!in( /< Norma!i@e (eometric %e!ection -< Tournament %e!ection Due to t&e comp!e=itie% o# t&e ot&er met&o %6 t&e Rou!ette B&ee! met&o % i% pre#erre in t&i% project<

8.2 Cr!''!7&r
Once t&e %e!ection proce%% i% comp!ete 6 t&e cro%%o0er a!(orit&m i% initiate < T&e cro%%o0er operation% %'ap% certain part% o# t&e t'o %e!ecte %trin(% in a bi to capture t&e (oo part% o# o! c&romo%ome% an create better ne' one%< Genetic operator% manipu!ate t&e c&aracter% o# a c&romo%ome irect!*6 u%in( t&e a%%umption t&at certain in i0i ua!;% (ene co e%6 on a0era(e6 pro uce #itter in i0i ua!%< T&e cro%%o0er probabi!it* in icate% &o' o#ten cro%%o0er i% per#orme < A probabi!it* o# 3H mean% t&at t&e o##%prin( 'i!! be e=act rep!ica% o# t&eir parent% an a probabi!it* o# 233H mean% t&at eac& (eneration 'i!! be

24

PID CONTROLLER TUNING USING GENETIC ALGORITHM

compo%e o# entire!* ne' o##%prin(< T&e %imp!e%t cro%%o0er tec&ni$ue i% t&e Sin(!e Point Cro%%o0er< T&ere are t'o %ta(e% in0o!0e in %in(!e point cro%%o0er+ 2< Member% o# t&e ne'!* repro uce %trin(% in t&e matin( poo! are mate 8paire : at ran om< 4< Eac& pair o# %trin(% un er(oe% a cro%%o0er a% #o!!o'%+ An inte(er - i% ran om!* %e!ecte bet'een one an t&e !en(t& o# t&e %trin( !e%% one6L .,L-.M< S'appin( a!! t&e c&aracter% bet'een po%ition% 5N2 an L inc!u%i0e!* create% t'o ne' %trin(%< E=amp!e+ I# t&e %trin(% .//// an /.../ are %e!ecte #or cro%%o0er an t&e 0a!ue o# - i% ran om!* %et to / t&en t&e ne'!* create %trin(% 'i!! be .//./ an /..//a% %&o'n in "i(ure /< 233 322 33 23 23323 32233

"i(ure /< I!!u%tration o# Cro%%o0er< More comp!e= cro%%o0er tec&ni$ue% e=i%t in t&e #orm o# Mu!ti1point an Uni#orm Cro%%o0er A!(orit&m%< In Mu!ti1point cro%%o0er6 it i% an e=ten%ion o# t&e %in(!e point cro%%o0er a!(orit&m an operate% on t&e princip!e t&at t&e part% o# a c&romo%ome t&at contribute mo%t to it% #itne%% mi(&t not be a jacent< T&ere are t&ree main %ta(e% in0o!0e in a Mu!ti1point cro%%o0er< 2< Member% o# t&e ne'!* repro uce %trin(% in t&e matin( poo! are <mate < 8paire : at ran om< 4< Mu!tip!e po%ition% are %e!ecte ran om!* 'it& no up!icate% an %orte into a%cen in( or er<
25

PID CONTROLLER TUNING USING GENETIC ALGORITHM

/< T&e bit% bet'een %ucce%%i0e cro%%o0er point% are e=c&an(e to pro uce ne' o##%prin(< E=amp!e+ I# t&e %trin( ..... an ///// 'ere %e!ecte #or cro%%o0er an t&e mu!tipoint cro%%o0er po%ition% 'ere %e!ecte to be 4 an - t&en t&e ne'!* create %trin(% 'i!! be ..//. an //../ a% %&o'n in "i(ure -< 22 33 22 2 33 3 22332 33223

"i(ure -< I!!u%tration o# Mu!ti1Point Cro%%o0er<

In uni#orm cro%%o0er6 a ran om ma%5 o# one% an @ero% o# t&e %ame !en(t& a% t&e parent %trin(% i% u%e in a proce ure a% #o!!o'%< 2< Member% o# t&e ne'!* repro uce %trin(% in t&e matin( poo! are <mate < 8paire : at ran om< 4< A ma%5 i% p!ace o0er eac& %trin(< I# t&e ma%5 bit i% a one6 t&e un er!*in( bit i% 5ept< I# t&e ma%5 bit i% a @ero t&en t&e corre%pon in( bit #rom t&e ot&er %trin( i% p!ace in t&i% po%ition<

E=amp!e+ I# t&e %trin( ././. an /././ 'ere %e!ecte #or cro%%o0er 'it& t&e ma%5././. t&en ne'!* create %trin(% 'ou! be ..... an ///// a% %&o'n in "i(ure .<

26

PID CONTROLLER TUNING USING GENETIC ALGORITHM

23232 23232 32323

22222 33333

"i(ure .< I!!u%tration o# a Uni#orm Cro%%o0er< Uni#orm cro%%o0er i% t&e mo%t i%rupti0e o# t&e cro%%o0er a!(orit&m% an &a% t&e capabi!it* to comp!ete!* i%mant!e a #it %trin(6 ren erin( it u%e!e%% in t&e ne=t (eneration< )ecau%e o# t&i% Uni#orm Cro%%o0er 'i!! not be u%e in t&i% project an Mu!ti1Point Cro%%o0er i% t&e pre#erre c&oice<

8.< M#*a*i!+
U%in( selection an crosso(er on t&eir o'n 'i!! (enerate a !ar(e amount o# i##erent %trin(%< Ho'e0er t&ere are t'o main prob!em% 'it& t&i%+ 2< Depen in( on t&e initia! popu!ation c&o%en6 t&ere ma* not be enou(& i0er%it* in t&e initia! %trin(% to en%ure t&e Genetic A!(orit&m %earc&e% t&e entire prob!em %pace< 4< T&e Genetic A!(orit&m ma* con0er(e on %ub1optimum %trin(% ue to a ba c&oice o# initia! popu!ation<

T&e%e prob!em% ma* be o0ercome b* t&e intro uction o# a mutation operator into t&e Genetic A!(orit&m< Mutation i% t&e occa%iona! ran om a!teration o# a 0a!ue o# a %trin( po%ition< It i% con%i ere a bac5(roun operator in t&e (enetic a!(orit&m< T&e probabi!it* o# mutation i% norma!!* !o' becau%e a &i(& mutation rate 'ou! e%tro* #it %trin(% an e(enerate t&e (enetic
27

PID CONTROLLER TUNING USING GENETIC ALGORITHM

a!(orit&m into a ran om %earc&< Mutation probabi!it* 0a!ue% o# aroun 3<2H or 3<32H are common6 t&e%e 0a!ue%..repre%ent t&e probabi!it* t&at a certain %trin( 'i!! be %e!ecte #or mutation i<e< #or a probabi!it* o# 3<2HI one %trin( in one t&ou%an 'i!! be %e!ecte #or mutation< Once a %trin( i% %e!ecte #or mutation6 a ran om!* c&o%en e!ement o# t&e %trin( i% c&an(e or mutate < "or e=amp!e6 i# t&e GA c&oo%e% bit po%ition #or mutation in t&e binar* %trin( .////6 t&e re%u!tin( %trin( i% .//./ a% t&e #ourt& bit in t&e %trin( i% #!ippe a% %&o'n in "i(ure A< 23333 23323

"i(ure A< I!!u%tration o# Mutation Operation

8.= S#

ar> O% G&+&*i) A(,!ri*h

Pr!)&''

In t&i% %ection t&e proce%% o# Genetic A!(orit&m 'i!! be %ummari@e in a #!o'c&art< T&e %ummar* o# t&e proce%% 'i!! be e%cribe be!o'<

28

PID CONTROLLER TUNING USING GENETIC ALGORITHM

T&e %tep% in0o!0e in creatin( an imp!ementin( a (enetic a!(orit&m+ 2< Generate an initia!6 ran om popu!ation o# in i0i ua!% #or a #i=e %i@e< 4< E0a!uate t&eir #itne%%< /< Se!ect t&e #itte%t member% o# t&e popu!ation< -< Repro uce u%in( a probabi!i%tic met&o 8e<(<6 rou!ette '&ee!:< .< Imp!ement cro%%o0er operation on t&e repro uce c&romo%ome% 8c&oo%in( probabi!i%tica!!* bot& t&e cro%%o0er %ite an t&e mate%<:< A< E=ecute mutation operation 'it& !o' probabi!it*< >< Repeat %tep 4 unti! a pre e#ine con0er(ence criterion i% met<

29

PID CONTROLLER TUNING USING GENETIC ALGORITHM

T&e con0er(ence criterion o# a (enetic a!(orit&m i% a u%er1%peci#ie con ition #or e=amp!e t&e ma=imum number o# (eneration% or '&en t&e %trin( #itne%% 0a!ue e=cee % a certain t&re%&o! <

8.0 E(i*i'
In t&e proce%% o# t&e cro%%o0er an mutation1ta5in( p!ace6 t&ere i% &i(& c&ance t&at t&e optimum %o!ution cou! be !o%t< T&ere i% no (uarantee t&at t&e%e operator% 'i!! pre%er0e t&e #itte%t %trin(< To a0oi t&i%6 t&e e!iti%t mo e!% are o#ten u%e < In t&i% mo e!6 t&e be%t in i0i ua! #rom a popu!ation i% %a0e be#ore an* o# t&e%e operation% ta5e p!ace< B&en a ne' popu!ation i% #orme an e0a!uate 6 t&i% mo e! 'i!! e=amine to %ee i# t&i% be%t %tructure &a% been pre%er0e < I# not t&e %a0e cop* i% rein%erte into t&e popu!ation< T&e GA 'i!! t&en continue% on a% norma!<

8.? O46&)*i7& F#+)*i!+ Or Fi*+&'' F#+)*i!+

T&e objecti0e #unction i% u%e to pro0i e a mea%ure o# &o' in i0i ua!% &a0e per#orme in t&e prob!em omain< In t&e ca%e o# a minimi@ation prob!em6 t&e mo%t #it in i0i ua!% 'i!! &a0e t&e !o'e%t numerica! 0a!ue o# t&e a%%ociate objecti0e #unction< T&i% ra' mea%ure o# #itne%% i% u%ua!!* on!* u%e a% an interme iate %ta(e in eterminin( t&e re!ati0e per#ormance o# in i0i ua!% in a GA< Anot&er #unction t&at i% t&e $itness $unction i% norma!!* u%e to tran%#orm t&e objecti0e #unction 0a!ue into a mea%ure o# re!ati0e #itne%%6 t&u% '&ere $ i% t&e objecti0e #unction6 g tran%#orm% t&e 0a!ue o# t&e objecti0e #unction to a non ne(ati0e number an 0 i% t&e re%u!tin( re!ati0e #itne%%< T&i% mappin( i%
30

PID CONTROLLER TUNING USING GENETIC ALGORITHM

a!'a*% nece%%ar* '&en t&e objecti0e #unction i% to be minimi@e a% t&e !o'er objecti0e #unction 0a!ue% corre%pon to #itter in i0i ua!%< In man* ca%e%6 t&e #itne%% #unction 0a!ue corre%pon % to t&e number o# o##%prin( t&at an in i0i ua! can e=pect to pro uce in t&e ne=t (eneration< A common!* u%e tran%#ormation i% t&at o# proportiona! #itne%% a%%i(nment<

8.5@ A--(i)a*i!+ O% G&+&*i) A(,!ri*h ' I+ C!+*r!( E+,i+&&ri+,

Pre%ent!* GA &a% been recei0in( a !ot o# attention an more re%earc& &a% been %*%tem one to %tu * it% app!ication%< App!ication in t&e area o# Contro! e0e!ope tremen ou%!*< E0en t&ou(& in contro! e%i(n6 i%%ue% %uc& a% per#ormance6 %*%tem %tabi!it*6 %tatic an %*%tem robu%tne%% &a0e to be ta5en into account< epen ence u%ua!!* cannot be e=pre%%e in a En(ineerin( &a% a!%o *namic in e= an an

Ho'e0er eac& o# t&e%e i%%ue% %tron(!* epen % on t&e contro!!er %tructure parameter%< T&i% mat&ematica! #ormu!a but o#ten a tra e1o## &a% to be ma e amon( con#!ictin( per#ormance i%%ue%< T&e #o!!o'in( are %ome GA app!ication% in u%e contro! en(ineerin(< Mu!ti objecti0e Contro!< PID contro!< Optima! Contro!< Robu%t Contro!< Inte!!i(ent Contro!<

31

PID CONTROLLER TUNING USING GENETIC ALGORITHM

Cha-*&r 3
PID C!+*r!((&r
3.5 I+*r!"#)*i!+
PID contro!!er con%i%t% o# Proportiona! Action6 Inte(ra! Action an Deri0ati0e Action< It i% common!* re#er to Eie(!er1Nic&o!% PID tunin( parameter%< It i% b* #ar t&e mo%t common contro! a!(orit&m < In t&i% c&apter6 t&e ba%ic concept o# t&e PID contro!% 'i!! be e=p!aine < PID contro!!er;% a!(orit&m are mo%t!* u%e in #ee bac5 !oop%< PID

contro!!er% can be imp!emente in man* #orm%< It can be imp!emente a% a %tan 1a!one contro!!er or a% part o# Direct Di(ita! Contro! 8DDC: pac5a(e or e0en Di%tribute Contro! S*%tem 8DCS:< T&e !atter i% a &ierarc&ica! i%tribute proce%% contro! %*%tem '&ic& i% 'i e!* u%e in proce%% p!ant% %uc& a% p&arceumatica! or oi! re#inin( in u%trie%< It i% intere%tin( to note t&at more t&an &a!# o# t&e in u%tria! contro!!er% in u%e to a* uti!i@e PID or mo i#ie PID contro! %c&eme%< )e!o' i% a %imp!e ia(ram i!!u%tratin( t&e %c&ematic o# t&e PID contro!!er< Suc& %et up i% 5no'n a% non interactin( #orm or para!!e! #orm<

32

PID CONTROLLER TUNING USING GENETIC ALGORITHM

3.8 PID C!+*r!((&r

In proportiona! contro!6 Pterm O FP P Error It u%e% proportion o# t&e %*%tem error to contro! t&e %*%tem< In t&i% action an o##%et i% intro uce in t&e %*%tem< In Inte(ra! contro!6 It i% proportiona! to t&e amount o# error in t&e %*%tem< In t&i% action6 t&e I1 action 'i!! intro uce a !a( in t&e %*%tem< T&i% 'i!! e!iminate t&e o##%et t&at 'a% intro uce ear!ier on b* t&e P1action<

33

PID CONTROLLER TUNING USING GENETIC ALGORITHM

In Deri0ati0e contro!6 It i% proportiona! to t&e rate o# c&an(e o# t&e error< In t&i% action6 t&e D1 action 'i!! intro uce a !ea in t&e %*%tem< T&i% 'i!! e!iminate t&e !a( in t&e %*%tem t&at 'a% intro uce b* t&e I1action ear!ier on<

3.3 C!+*i+#!#' PID

T&e t&ree contro!!er% '&en combine to(et&er can be repre%ente b* t&e #o!!o'in( tran%#er #unction< Gc(s) = K (1 + 1/sTi + sTd) T&i% can be i!!u%trate be!o' in t&e #o!!o'in( b!oc5 ia(ram

B&at t&e PID contro!!er oe% i% ba%ica!!* i% to act on t&e 0ariab!e to be Manipu!ate t&rou(& a proper combination o# t&e t&ree contro! action% t&at i% t&e P contro! action6 I contro! action an D contro! action< T&e P action i% t&e contro! action t&at i% proportiona! to t&e actuatin( error
34

PID CONTROLLER TUNING USING GENETIC ALGORITHM

%i(na! '&ic& i% t&e i##erence bet'een t&e input an t&e #ee bac5 %i(na!< T&e I action i% t&e contro! action '&ic& i% proportiona! to t&e inte(ra! o# t&e actuatin( error %i(na!< "ina!!* t&e D action i% t&e contro! action '&ic& i% proportiona! to t&e eri0ati0e o# t&e actuatin( error %i(na!< Bit& t&e inte(ration o# a!! t&e t&ree action%6 t&e continuou% PID can be rea!i@e < T&i% t*pe o# contro!!er i% 'i e!* u%e in in u%trie% a!! o0er t&e 'or! < In #act a !ot o# re%earc&6 %tu ie% an app!ication &a% been i%co0ere in t&e recent *ear%<

35

PID CONTROLLER TUNING USING GENETIC ALGORITHM

Cha-*&r 1
O-*i i;i+, O% PID C!+*r!((&r
1.5 I+*r!"#)*i!+
"or t&e %*%tem un er %tu *6 Eie(er1Nic&o!% tunin( ru!e ba%e on critica! (ain Fer an critica! perio Per 'i!! be u%e < In t&i% met&o 6 t&e inte(ra! time Ti 'i!! be %et to in#init* an t&e eri0ati0e time T to @ero< T&i% i% u%e to (et t&e initia! PID %ettin( o# t&e %*%tem< T&i% PID %ettin( 'i!! t&en be #urt&er optimi@e u%in( t&e %teepe%t e%cent (ra ient met&o << In t&i% met&o 6 on!* t&e proportiona! contro! action 'i!! be u%e < T&e F p 'i!! be increa%e to a critica! 0a!ue Fer at '&ic& t&e %*%tem output 'i!! e=&ibit %u%taine o%ci!!ation%< In t&i% met&o 6 i# t&e %*%tem output oe% not e=&ibit t&e %u%taine o%ci!!ation% &ence t&i% met&o oe% not app!*<

In t&i% c&apter6 it 'i!! be %&o'n t&at t&e ine##icienc* o# e%i(nin( PID contro!!er u%in( t&e c!a%%ica! met&o < T&i% e%i(n 'i!! be #urt&er impro0e b* t&e optimi@ation met&o %uc& a% <%teepe%t e%cent (ra ient met&o a% mentione ear!ier<

36

PID CONTROLLER TUNING USING GENETIC ALGORITHM

1.8

D&'i,+i+, PID Para &*&r'

"rom t&e re%pon%e be!o'6 t&e %*%tem un er %tu * i% in ee o%ci!!ator* an &ence t&e E1N tunin( ru!e ba%e on critica! (ain F er an critica! perio Per can be app!ie <

"i(ure 23< I!!u%tration o# Su%taine O%ci!!ation 'it& Perio Per<

T&e tran%#er #unction o# t&e PID contro!!er i% Gc(s) = Kp(1+1/ TiS + Tds ) T&e objecti0e i% to ac&ie0e a unit1%tep re%pon%e cur0e o# t&e e%i(ne %*%tem t&at e=&ibit% a ma=imum o0er%&oot o# 4. H< I# t&e ma=imum o0er%&oot i%

37

PID CONTROLLER TUNING USING GENETIC ALGORITHM

e=ce%%i0e %a*% about (reater t&an -3H6 #ine tunin( %&ou! be one to re uce it to !e%% t&an4.H< T&e %*%tem un er %tu * abo0e &a% a #o!!o'in( b!oc5 ia(ram

"i(ure 22< )!oc5 Dia(ram O# Contro!!er An P!ant<

Since t&e Ti O an T O 36 t&i% can be re uce to t&e tran%#er #unction o# R(s)/C(s) = kp/ s(s+ 1)(s+ 5)+ Kp T&e 0a!ue o# Fp t&at ma5e% t&e %*%tem mar(ina!!* %tab!e %o t&at %u%taine o%ci!!ation occur% can be obtaine b* u%in( t&e Rout&;% %tabi!it* citerion< Since t&e c&aracteri%tic e$uation #or t&e c!o%e 1!oop %*%tem i%

s^3+ 6s^2+ 5s+ Kp= 0

"rom t&e Rout&;% Stabi!it* Criterion6 t&e 0a!ue o# Fp t&at ma5e% t&e %*%tem
38

PID CONTROLLER TUNING USING GENETIC ALGORITHM

mar(ina!!* %tab!e can be etermine <

T&e tab!e be!o' i!!u%trate% t&e Rout& arra*<

Tab!e 2< Rout& Arra*

)* ob%er0in( t&e coe##icient o# t&e #ir%t co!umn6 t&e %u%taine o%ci!!ation 'i!! occur i# FpO/3< Hence t&e critica! (ain Fer i% Fer O /3 T&u% 'it& Fp %et e$ua! to Fer6 t&e c&aracteri%tic e$uation become% %Q N A%R N .% N /3 O 3 T&e #re$uenc* o# t&e %u%taine o%ci!!ation can be etermine b* %ub%titutin( t&e % term% 'it& 1 term. Hence t&e ne' e$uation become% 8 1 )Q + A 8 1 :R N . 8 1 : N /3 O 3

39

PID CONTROLLER TUNING USING GENETIC ALGORITHM

T&i% can be %imp!i#ie to A 8 . 1 :R N 1 8 . 1 : O 3 "rom t&e abo0e %imp!i#ication6 t&e %u%taine o%ci!!ation can be re uce to R O . or O . Per O 4/. O 4<,3?? "rom Eie(!er1Nic&o!% #re$uenc* met&o o# t&e %econ met&o 6 t&e tab!e %u((e%te tunin( ru!e accor in( to t&e #ormu!a %&o'n< "rom t&e%e 'e are ab!e to e%timate t&e parameter% o# Fp6 Ti an T < T&e perio o# t&e %u%taine o%ci!!ation can be ca!cu!ate a%

Tab!e 4< Recommen e PID Ca!ue Settin(<

Hence #rom t&e abo0e tab!e6 t&e 0a!ue% o# t&e PID parameter% Fp6 Ti an T 'i!! be Fp O /3 Ti O 3<. P 4<,3?? O 2<-3. T O 3<24. P 4<,3?? O 3</.2<
40

PID CONTROLLER TUNING USING GENETIC ALGORITHM

T&e tran%#er #unction o# t&e PID contro!!er 'it& a!! t&e parameter% i% (i0en a%

"rom t&e abo0e tran%#er #unction6 'e can %ee t&at t&e PID contro!!er &a% po!e at t&e ori(in an oub!e @ero at % O 12<-4/.< T&e b!oc5 ia(ram o# t&e contro! %*%tem 'it& PID contro!!er i% a% #o!!o'%<

"i(ure 24< I!!u%trate t&e C!o%e Loop Tran%#er "unction<

U%in( t&e MATLA) #unction6 t&e #o!!o'in( %*%tem can be ea%i!* ca!cu!ate < T&e abo0e %*%tem can be re uce to %in(!e b!oc5 b* u%in( t&e #o!!o'in( MATLA) #unction< )e!o' i% t&e Mat!ab co e% t&at 'i!! ca!cu!ate t&e t'o b!oc5% in %erie%<

41

PID CONTROLLER TUNING USING GENETIC ALGORITHM

T&i% 'i!! (i0e% t&e #o!!o'in( an%'er

Hence t&e abo0e b!oc5 ia(ram i% re uce to

"i(ure 2/< Simp!i#ie S*%tem<

42

PID CONTROLLER TUNING USING GENETIC ALGORITHM

U%in( anot&er MATLA) #unction6 t&e o0era!! #unction 'it& it% #ee bac5 can be ca!cu!ate a% #o!!o'

T&i% 'i!! re%u!t to

T&ere#ore t&e o0era!! c!o%e !oop %*%tem re%pon%e o#

T&e unit %tep re%pon%e o# t&i% %*%tem can be obtaine 'it& MATLA)<

43

PID CONTROLLER TUNING USING GENETIC ALGORITHM

"i(ure 2-< Unit Step Re%pon%e O# T&e De%i(ne S*%tem<

T&e #i(ure abo0e i% t&e %*%tem re%pon%e o# t&e e%i(ne %*%tem< "rom t&e abo0e re%pon%e it i% ob0iou% t&at t&e %*%tem can be #urt&er impro0e <

1.3 A+a(>'i' O% Th& C(a''i)a((> D&'i,+&" C!+*r!((&r

44

PID CONTROLLER TUNING USING GENETIC ALGORITHM

"rom t&e abo0e ia(ram6 'e can ana!*@e t&e re%pon%e o# t&e %*%tem< T&e @ero an po!e o# t&e %*%tem can be ca!cu!ate u%in( t&e MATLA) #unction *%8;-< Be can ana!*@e t&em 0ia t&e #o!!o'in( parameter%+ De!a* time6 t Ri%e time6 tr Pea5 time6 tp Ma=imum O0er%&oot6 Mp Sett!in( time6 t%

T&e e!a* time6 t o# t&e abo0e %*%tem '&ic& i% t&e time ta5en to reac& .3H o#t&e #ina! re%pon%e time i% about 3<. %ec< T&e ri%e time6 tr i% t&e time ta5en to reac& . to ?. H o# t&e #ina! 0a!ue i% about2<>. %ec< T&e Pea5 time6 tp i% t&e time ta5en #or t&e %*%tem to reac& t&e #ir%t pea5 o# o0er%&oot i% about 4<3 %ec< T&e Ma=imum O0er%&oot6 Mp o# t&e %*%tem i% appro=imate!* A3H< "ina!!* t&e Sett!in( time6 t% i% about 23<4 %ec< "rom t&e ana!*%i% abo0e6 t&e %*%tem &a% not been tune to it% optimum< Here 'e can impro0e t&e %*%tem b* !oo5in( into t&e %*%tem @ero an po!e< T&e %*%tem @ero% an po!e% can be ca!cu!ate u%in( MATLA) #unction
45

PID CONTROLLER TUNING USING GENETIC ALGORITHM

mentione be!o'<

T&e abo0e re%u!t %&o'% t&at t&e %*%tem i% %tab!e %ince a!! t&e po!e% are !ocate on t&e !e#t %i e o# t&e %1p!ane< To optimi@e t&e re%pon%e #urt&er6 t&e PID contro!!er tran%#er #unction mu%t be re0i%ite < T&e tran%#er #unction o# t&e e%i(ne PID contro!!er i%

46

PID CONTROLLER TUNING USING GENETIC ALGORITHM

T&e PID contro!!er &a% a oub!e @ero o# <2<-4/.< )* tria! an error6 !et 5eep% t&e Fp O 2, an c&an(e t&e !ocation o# t&e oub!e @ero #rom 2<-4/. to 3<A.<

T&e ne' PID contro!!er 'i!! &a0e t&e #o!!o'in( parameter%<

T&e PID tran%#er #unction an

p!ant tran%#er #unction in %erie% can be

ca!cu!ate b* Mat!ab an t&e re%u!t a% #o!!o'6

T&e tota! re%pon%e 'it& a unit* #ee bac5 can be ca!cu!ate a% #o!!o'

T&e re%pon%e o# t&e abo0e %*%tem can be i!!u%trate in t&e #o!!o'in( p!ot<

47

PID CONTROLLER TUNING USING GENETIC ALGORITHM

"i(ure 2.< Impro0e S*%tem Re%pon%e<

T&e ne' %*%tem re%pon%e &a% %ome&o' impro0e < T&e Ma=imum O0er%&oot6 Mp &a% re uce to appro=imate!* 2,H<T&e Sett!in( Time6 t% &a% impro0e #rom 2-%ec to A %ec< T&e Pea5 Time6 tp an De!a* Time6 t &a% increa%e < T&e #ina! amp!itu e &a% impro0e at t&e e=pen%e o# t&e %*%tem time< T&e ne' PID parameter% can be ca!cu!ate a% are Fp O 2,6 Ti O /<3>> an T O 3<>A?4< To impro0e t&e %*%tem #urt&er6 !et% increa%e t&e Fp 0a!ue to /?<-4< T&e !ocation o# oub!e @ero 'i!! be 5ept t&e %ame i<e % O 13<A.< T&e ne' tran%#er #unction o# t&e PID contro!!er 'i!! be

48

PID CONTROLLER TUNING USING GENETIC ALGORITHM

U%in( t&e Mat!ab comman 6 t&e abo0e #unction to(et&er 'it& t&e p!ant tran%#er #unction an t&e unit* #ee bac5 can be etermine < T&e re%u!t i%

T&e %*%tem re%pon%e can be %&o'n a% #o!!o'

"i(ure 2A< <Optimi@e < S*%tem Re%pon%e<

49

PID CONTROLLER TUNING USING GENETIC ALGORITHM

T&e abo0e re%pon%e %&o'% t&at t&e %*%tem &a% impro0e < T&e re%pon%e i% #a%ter t&an t&e one %&o'n in #i(ure 2.< T&e Ma=imum O0er%&oot6 Mp &a% increa%e to about 44H< T&i% i% %ti!! acceptab!e %ince t&e Ma=imum O0er%&oot a!!o'ab!e i% !e%% t&an 4.H<T&e Sett!in( Time6 t% remain t&e %ame i<e< A %ec< T&e Pea5 Time6 tp an De!a* Time6 t &a% impro0e < T&e ne' PID parameter% can be ca!cu!ate a% Fp O /?<-46 Ti O /<3>> an T O 3<>A?4< In t&e 0ariou% p!ot% abo0e6 t&e 0ariou% re%pon%e% an it% e%i(n parameter% can be ob%er0e < Hence 'e can c!ear!* %ee t&at t&e #ina! parameter% are more %uperior t&en t&e ear!ier t'o re%pon%e%< Ho'e0er t&e %etbac5 i% t&e Mp6 '&ic& i% more t&an t&e Mp o# t&e %econ re%pon%e< Ne0ert&e!e%% t&e #ina! re%pon%e Mp i% %ti!! 'it&in t&e 4.H Ma=imum O0er%&oot a!!o'ab!e< T&e %ett!in( time6 t% o# t&e %econ an t&e t&ir re%pon%e% #are muc& better t&an t&e #ir%t re%pon%e< T&e t% reac&e it%%tea *1%tate in muc& #a%ter t&an t&e ori(ina! time ta5en b* t&e ori(ina! re%pon%e< It i% intere%tin( to ob%er0e t&at t&e%e 0a!ue% are appro=imate!* t'ice t&e 0a!ue% %u((e%te b* t&e %econ met&o o# E1N tunin( ru!e< Hence 'e can conc!u e t&at E1N tunin( ru!e &a% pro0i e u% a %tartin( point #or a #iner tunin(< It i% ob%er0e t&at #or t&e ca%e '&ere t&e oub!e @ero i% !ocate at % O 12<-4.6 increa%in( t&e 0a!ue o# Fp increa%e% t&e %pee o# t&e re%pon%e< Ho'e0er t&i% oe% not impro0e t&e percenta(e ma=imum o0er%&oot< In #act 0ar*in( Fp
50

PID CONTROLLER TUNING USING GENETIC ALGORITHM

&a% !itt!e impact on t&e percenta(e ma=imum o0er%&oot< On t&e ot&er &an 6 0ar*in( t&e oub!e @ero &a% %i(ni#icant e##ect on t&e ma=imum o0er%&oot< T&e @ero i% %&i#te #orm <2<-4. to <3<A. an 'e ob%er0e t&at t&e ma=imum o0er%&oot re uce%< "ina!!* to ac&ie0e a better re%u!t6 'e &a0e to &a0e to oub!e t&e Fp 0a!ue coup!e 'it& t&e ne' @ero 0a!ue an &ence t&e better percenta(e ma=imum o0er%&oot can be ac&ie0e < T&e abo0e can e=p!aine t&rou(& t&e root1!ocu% ana!*%i%< T&e %*%tem e%cribe abo0e can be #urt&er impro0e or optimi@e < In t&e #o!!o'in( %ection6 t&e optimi@ation met&o u%e 'i!! be i%cu%%e <

1.1 O-*i i;i+, O% Th& D&'i,+&" PID C!+*r!((&r.

T&e optimi@in( met&o u%e #or t&e e%i(ne PID contro!!er i% t&e %teepe%t (ra ient e%cent met&o << In t&i% met&o 6 'e 'i!! eri0e t&e tran%#er #unction o# t&e contro!!er a%

T&e minimi@in( o# t&e error #unction o# t&e c&o%en prob!em can be ac&ie0e i# t&e %uitab!e 0a!ue% o# can be etermine < T&e%e t&ree combination% o# potentia! 0a!ue% #orm a t&ree imen%iona! %pace< T&e error #unction 'i!! #orm %ome contour 'it&in t&e %pace< T&i% contour &a% ma=ima6 minima an (ra ient% '&ic& re%u!t in a continuou% %ur#ace<

51

PID CONTROLLER TUNING USING GENETIC ALGORITHM

T&e i ea o# t&i% optimi@ation met&o i% reac& t&e minima b* t&e %&orte%t pat&< In or er to ac&ie0e t&i% %&orte%t pat&6 mo0in( o'n t&e %teepe%t (ra ient 'i!! !ea to reac&in( t&e minima t&e %oone%t< B&en t&e (ra ient c&an(e% #rom point to point to en%ure t&at t&e %teepe%t pat& i% %ti!! bein( u%e 6 it i% %i(ni#icant to c&oo%e a ne' irection an ma5e c&an(e% accor in(!*< Hence t&e minimi@ation o# t&e error #unction i% ac&ie0e b* ana!*@in( t&e #unction o# t&e #unction it%e!#< In t&e ne=t para(rap&6 t&e eri0ation o# t&e p!ant tran%#er #unction to t&e minimi@in( o# error #unction 'i!! be %&o'n<

T&e #o!!o'in( i% t&e Optimi@ation eri0ation<

52

PID CONTROLLER TUNING USING GENETIC ALGORITHM

53

PID CONTROLLER TUNING USING GENETIC ALGORITHM

T&e abo0e e$uation can be imp!emente 'it& MATLA) an t&e re%pon%e ob%er0e < T&e etai!% o# t&e Mat!ab co e% can be %een in t&e appen i=<
54

PID CONTROLLER TUNING USING GENETIC ALGORITHM

"rom t&e p!ot be!o' 'e can %ee t&e optimi@ation re%pon%e< In t&i% p!ot 'e can %ee &o' t&e optimi@e contro!!er be&a0e< It can be %een t&at t&e cur0e be&a0e% a% i# it c!imbin( up t&e &i!!< It 'i!! impro0e it% per#ormance unti! t&ere i% !itt!e error e=i%t an #ina!!* it 'i!! reac& t&e #ina! 0a!ue<

"i(ure 2>< Optimi@ation Bit& Steepe%t De%cent Gra ient Met&o

In t&i% met&o 6 t&e %*%tem i% #urt&er optimi@e u%in( t&e %ai met&o < Bit& t&e %teepe%t e%cent (ra ient met&o <6 t&e re%pon%e &a% e#inite!* impro0e a% compare to t&e one in "i(ure 2A< T&e %ett!in( time &a% impro0e to 4<. %econ a% compare to A<3 %econ % pre0iou%!*< T&e %etbac5 i% t&at t&e ri%e time an t&e ma=imum o0er%&oot cannot be ca!cu!ate < T&i% i% ue to t&e &i!!

55

PID CONTROLLER TUNING USING GENETIC ALGORITHM

c!imbin( action o# t&e %teepe%t

e%cent (ra ient met&o < Ho'e0er t&i%

%etbac5 'a% rep!ace 'it& t&e $uic5 %ett!in( time ac&ie0e < )e!o' i% t&e p!ot o# t&e error %i(na! o# t&e optimi@e contro!!er< In t&e #i(ure be!o' it i% %&o'n t&at t&e error 'a% minimi@e an t&i% corre!ate 'it& t&e re%pon%e %&o'n in "i(ure 2> A% t&e error 'a% minimi@e 6 t&e %*%tem i% reac&in( it% %tabi!it*<

"i(ure 2,< Error Si(na! O# T&e Optimi@e S*%tem

"rom t&e abo0e #i(ure6 t&e initia! error o# 2 i% #ina!!* re uce to @ero< It too5 about 4<. to / %econ % #or t&e error to be minimi@e <

56

PID CONTROLLER TUNING USING GENETIC ALGORITHM

Cha-*&r2
D&'i,+i+, O% PID U'i+, G&+&*i) A(,!ri*h
2.5 I+*r!"#)*i!+
)e#ore 'e (o into t&e abo0e %ubject< It i% (oo to i%cu%% t&e i##erence% bet'een Genetic% A!(orit&m a(ain%t t&e tra itiona! met&o %< T&i% 'i!! &e!p u% un er%tan '&* GA i% more e##icient t&an t&e !atter< Genetic a!(orit&m% are %ub%tantia!!* i##erent to t&e more tra itiona! %earc& an optimi@ation tec&ni$ue%< T&e #i0e main i##erence% are+ 2< Genetic a!(orit&m% %earc& a popu!ation o# point% in para!!e!6 not #rom a %in(!e point< 4< Genetic a!(orit&m% au=i!iar* 5no'!e (eI on!* t&e objecti0e #unction an in#!uence t&e irection o# t&e %earc&< /< Genetic a!(orit&m% u%e probabi!i%tic tran%ition ru!e%6 not etermini%tic ru!e%<
57

o not re$uire

eri0ati0e in#ormation or ot&er corre%pon in( #itne%% !e0e!%

PID CONTROLLER TUNING USING GENETIC ALGORITHM

-< Genetic a!(orit&m% 'or5 on an enco in( o# a parameter %et not t&e parameter %et it%e!# 8e=cept '&ere rea!10a!ue in i0i ua!% are u%e :< .< Genetic a!(orit&m% ma* pro0i e a number o# potentia! %o!ution% to a (i0en prob!em an t&e c&oice o# t&e #ina! i% !e#t up to t&e u%er<

2.8 I+i*ia(i;i+, *h& P!-#(a*i!+ !% *h& G&+&*i) A(,!ri*h

T&e Genetic A!(orit&m &a% to be initia!i@e be#ore t&e a!(orit&m can procee < T&e Initia!i@ation o# t&e popu!ation %i@e6 0ariab!e boun % an t&e e0a!uation #unction are re$uire < T&e%e are t&e initia! input% t&at are re$uire in or er #or t&e Genetic A!(orit&m proce%% to %tart< T&e #o!!o'in( co e i% ba%e Too!bo= 8GAOT:< HInitia!i%in( t&e (enetic a!(orit&m popu!ationSi@eO,3I 0ariab!e)oun %OL1233 233I1233 233I1233 233MI e0a!"NO;PIDSobj#unSMSE;I HC&an(e t&i% to re!e0ant object #unction e0a!Op%OLMI option%OL2e1A 2MI initPopOinitia!i@e(a8popu!ationSi@e60ariab!e)oun %6e0a!"N< e0a!Op%6option%:
"i(ure 2?< Initia!i@e T&e GA<

on t&e Genetic A!(orit&m Optimi@ation

58

PID CONTROLLER TUNING USING GENETIC ALGORITHM

T&e #o!!o'in( co e% are u%e e=p!aine in etai!%<

to initia!i@e t&e GA< T&e co e% 'i!! be

PopulationSize - T&e #ir%t %ta(e o# 'ritin( a Genetic A!(orit&m i% to create a popu!ation< T&i% comman e#ine% t&e popu!ation %i@e o# t&e GA< Genera!!* t&e bi((er t&e popu!ation %i@e t&e better i% t&e #ina! appro=imation< VariableBounds - Since t&i% project i% u%in( (enetic a!(orit&m% to optimi@e t&e (ain% o# a PID contro!!er t&ere are (oin( to be t&ree %trin(% a%%i(ne to eac& member o# t&e popu!ation6 t&e%e member% 'i!! be compri%e o# a P6 I an a D %trin( t&at 'i!! be e0a!uate t&rou(&out t&e cour%e o# t&e GA proce%%e%< T&e t&ree term% are entere into t&e (enetic a!(orit&m 0ia t&e ec!aration o# a t&ree1ro' (aria&le&ounds matri=< T&e number o# ro'% in t&e (aria&le&ounds matri= repre%ent% t&e number o# term% in eac& member o# t&e popu!ation< "i(ure 2?i!!u%trate% a popu!ation o# ei(&t* member% bein( initia!i@e 'it& 0a!ue% ran om!* %e!ecte bet'een 1233 an 233< EvalFN - T&e e0a!uation #unction i% t&e mat!ab #unction u%e to ec!are t&e objecti0e #unction< It 'i!! #etc& t&e #i!e name o# t&e objecti0e #unction an e=ecute t&e co e% an return t&e 0a!ue% bac5 to t&e main co e%< Options - A!t&ou(& t&e pre0iou% e=amp!e% in t&i% %ection 'ere a!! binar* enco e t&i% 'a% ju%t #or i!!u%trati0e purpo%e%< )inar* %trin(% &a0e t'o main ra'bac5%+ 2< T&e* ta5e !on(er to e0a!uate ue to t&e #act t&e* &a0e to be con0erte to an #rom binar*< 4< )inar* %trin(% 'i!! !o%e it% preci%ion urin( t&e con0er%ion proce%%<

59

PID CONTROLLER TUNING USING GENETIC ALGORITHM

A% a re%u!t o# t&i% an t&e #act t&at t&e* u%e !e%% memor*6 rea! 8#!oatin( point: number% 'i!! be u%e to enco e t&e popu!ation< T&i% i% %i(ni#ie in t&e option% comman in "i(ure 2?6 '&ere t&e T2e1A; term i% t&e #!oatin( point preci%ion an t&e T2; term in icate% t&at rea! number% are bein( u%e 83 in icate% binar* enco in( i% bein( u%e :< Initialisega . T&i% comman i% #rom t&e GAOT too!bo=< It 'i!! combine% a!! t&e pre0iou%!* e%cribe term% an create% an initia! popu!ation o# ,3 rea! 0a!ue member% bet'een <233 an 233 'it& A ecima! p!ace preci%ion<

2.3 S&**i+, Th& GA Para &*&r'

T&e #o!!o'in( are co e% #or %ettin( up t&e GA< T&e etai!% o# t&e co e u%e 'i!! be e=p!aine be!o'< HSettin( t&e parameter% #or t&e (enetic a!(orit&m boun %OL1233 233I1233 233I1233 233MI e0a!"NO;PIDSobj#unSMSE;IHc&an(e t&i% to re!e0ant object #unction e0a!Op%OLMI %tartPopOinitPopI opt%OL2e1A 2 3MI term"NO;ma=GenTerm;I termOp%O233I %e!ect"NO;normGeomSe!ect;I %e!ectOp%O3<3,I =O0er"N%O;arit&Po0er;I =O0erOp%O-I mut"N%O;uni#Mutation;I mutOp%O,I

60

PID CONTROLLER TUNING USING GENETIC ALGORITHM

"i(ure 43< Parameter% Settin( O# GA<

Bounds - T&e 0ariab!e boun are #or t&e (enetic a!(orit&m to %earc& 'it&in a %peci#ie area< T&e%e boun % ma* be i##erent #rom t&e one% u%e to initia!i@e t&e popu!ation an t&e* (enetic a!(orit&m< startPop - T&e %tartin( popu!ation o# t&e GA6 TstartPop;6 i% e#ine a% t&e popu!ation e%cribe in t&e pre0iou% %ection i<e< TinitPop;6 %ee "i(ure 2?< opts - T&e option% #or t&e Genetic A!(orit&m con%i%t o# t&e preci%ion o# t&e %trin( 0a!ue% i<e< 2e1A6 t&e ec!aration o# rea! co e 0a!ue%6 26 an a re$ue%t #or t&e pro(re%% o# t&e GA to be i%p!a*e 6 26 or %uppre%%e 6 3<
TermFN - T&i% i% t&e ec!aration o# t&e termination #unction #or t&e (enetic

e#ine t&e entire %earc& %pace #or t&e

a!(orit&m< T&i% i% u%e to terminate t&e (enetic a!(orit&m once certain criterion &a% been met< In t&i% project6 e0er* GA 'i!! be terminate '&en it reac&e% a certain number o# (eneration% u%in( t&e Tma=GenTerm; #unction< T&i% termination met&o a!!o'% #or more contro! o0er t&e compi!e time t&at i% t&e amount o# time it ta5e% #or t&e (enetic a!(orit&m to reac& it% termination criterion o# t&e (enetic a!(orit&m '&en compare 'it& ot&er termination criteria e<(< con0er(ence termination criterion< TermOps - T&i% comman e#ine% t&e option%6 i# an*6 #or t&e termination

#unction< In t&i% e=amp!e t&e termination option% are %et to 2336 '&ic& mean% t&at t&e GA 'i!! repro uce one &un re (eneration% be#ore terminatin(< T&i% number ma* be a!tere to be%t %uit t&e con0er(ence criteria o# t&e (enetic a!(orit&m i<e< i# t&e GA con0er(e% $uic5!* t&en t&e termination option% %&ou! be re uce <
61

PID CONTROLLER TUNING USING GENETIC ALGORITHM

SelectFN - Norma!i%e

(eometric %e!ection 8TnormGeomSe!ect;: i% t&e

primar* %e!ection proce%% to be u%e in t&i% project< T&e GAOT too!bo= pro0i e% t'o ot&er %e!ection #unction%6 Tournament %e!ection an Rou!ette '&ee! %e!ection< Tournament %e!ection &a% a !on(er compi!ation time t&an t&e re%t an a% t&e o0era!! run time o# t&e (enetic a!(orit&m i% an i%%ue6 tournament %e!ection 'i!! not be u%e < T&e rou!ette '&ee! option i% inappropriate ue to t&e rea%on% mentione in %ection 4<-< SelectOps - B&en u%in( t&e TnormGeomSe!ect; option6 t&e on!* parameter t&at &a% to be ec!are i% t&e probabi!it* o# %e!ectin( t&e #itte%t c&romo%ome o# eac& (eneration6 in t&i% e=amp!e t&i% probabi!it* i% %et to 3<3,< OverFN - Arit&metic cro%%o0er 'a% c&o%en a% t&e cro%%o0er proce ure< Sin(!e point cro%%o0er i% too %imp!i%tic to 'or5 e##ecti0e!* on a c&romo%ome 'it& t&ree a!!e!e%6 a more uni#orm cro%%o0er proce ure t&rou(&out t&e c&romo%ome i% re$uire < Heuri%tic cro%%o0er 'a% i%car e becau%e it per#orm% t&e cro%%o0er proce ure a number o# time% an t&en pic5% t&e be%t one< T&i% increa%e% t&e compi!ation time o# t&e pro(ram an i% un e%irab!e< T&e Arit&metic cro%%o0er proce ure i% %peci#ica!!* u%e #or #!oatin( point number% an i% t&e i ea! cro%%o0er option #or u%e in t&i% project< OverOptions -T&i% i% '&ere t&e number o# cro%%o0er point% i% %peci#ie < mutFNs - T&e Tmu!tiNonUni#Mutation;6 or mu!ti non1uni#orm!* i%tribute mutation operator6 'a% c&o%en a% t&e mutation operator a% it i% con%i ere to #unction 'e!! 'it& mu!tip!e 0ariab!e%< MutOps - T&e mutation operator ta5e% in t&ree option% '&en u%in( t&e Tmu!tiNonUni#Mutation; #unction< T&e #ir%t i% t&e tota! number o# mutation%6 norma!!* %et 'it& a probabi!it* o# aroun 3<2H< T&e %econ parameter i% t&e ma=imum number o# (eneration% an t&e t&ir parameter i% t&e %&ape o# t&e
62

PID CONTROLLER TUNING USING GENETIC ALGORITHM

i%tribution< T&i% !a%t parameter i% %et to a 0a!ue o# t'o6 t&ree or #our '&ere t&e number re#!ect% t&e 0ariance o# t&e i%tribution<

2.1 P&r%!r i+, Th& G&+&*i) A(,!ri*h

T&e (enetic a!(orit&m i% compi!e u%in( t&e comman %&o'n in "i(ure < T&e #unction T,a. ; 'i!! e0a!uate an iterate t&e (enetic a!(orit&m unti! it #u!#i!% t&e criteria e%cribe b* it% termination #unction< HPer#ormin( t&e (enetic a!(orit&m L=6en Pop6bPop6traceIn#oMO(a8boun %6e0a!"N6e0a!Op%6%tartP op6opt%6<<< term"N6termOp%6%e!ect"N6%e!ectOp%6=O0er"N%6=O0erOp%6m ut"N%6mutOp%:I

"i(ure 42< Per#ormin( T&e GA<

Once t&e (enetic a!(orit&m i% comp!ete 6 t&e abo0e #unction 'i!! return #our 0ariab!e%+ = O T&e be%t popu!ation #oun urin( t&e GA< en Pop O T&e GA<% #ina! popu!ation< be%tPop O T&e GA<% be%t %o!ution trac5e o0er (eneration%< traceIn#o O T&e be%t 0a!ue an a0era(e 0a!ue #or eac& (eneration< T&e be%t popu!ation ma* be p!otte to (i0e an in%i(&t into &o' t&e (enetic A!(orit&m con0er(e to it% #ina! 0a!ue% a% i!!u%trate in "i(ure 44<

63

PID CONTROLLER TUNING USING GENETIC ALGORITHM

"i(ure 44< I!!u%tration O# Genetic A!(orit&m Con0er(in( T&rou(& Generation%<

2.2 Th& O46&)*i7& F#+)*i!+ O% Th& G&+&*i) A(,!ri*h

T&i% i% t&e mo%t c&a!!en(in( part o# creatin( a (enetic a!(orit&m i% 'ritin( t&e objecti0e #unction< In t&i% project6 t&e objecti0e #unction i% re$uire to e0a!uate t&e be%t PID contro!!er #or t&e %*%tem< An objecti0e #unction cou! be create to #in a PID contro!!er t&at (i0e% t&e %ma!!e%t o0er%&oot6 #a%te%t ri%e time or $uic5e%t %ett!in( time< Ho'e0er in or er to combine a!! o# t&e%e objecti0e% it 'a% eci e to e%i(n an objecti0e #unction t&at 'i!! minimi@e t&e error o# t&e contro!!e %*%tem in%tea < Eac& c&romo%ome in t&e
64

PID CONTROLLER TUNING USING GENETIC ALGORITHM

popu!ation i% pa%%e

into t&e objecti0e #unction one at a time< T&e

c&romo%ome i% t&en e0a!uate an a%%i(ne a number to repre%ent it% #itne%%6 t&e bi((er it% number t&e better it% #itne%%< T&e (enetic a!(orit&m u%e% t&e c&romo%ome;% #itne%% 0a!ue to create a ne' popu!ation con%i%tin( o# t&e #itte%t member%< )e!o' are t&e co e% #or t&e Objecti0e "unction<

#unction L=Spop6 #=S0a!MOPIDSobj#unSMSE8=Spop6option%: (!oba! %*%Scontro!!e (!oba! time (!oba! %*%r! H Sp!ittin( t&e c&romo%one% into / %eparate %trin(%< FpO=Spop84:I FiO=Spop8/:I F O=Spop82:I Hcreatin( t&e PID contro!!er #rom current 0a!ue% pi S enOL2 3MI pi SnumOLF Fp FiMI pi S%*%Ot#8pi Snum6pi S en:I Ho0era!! PID contro!!er

"i(ure 4/< Objecti0e "unction

Eac& c&romo%ome con%i%t% o# t&ree %eparate %trin(% con%titutin( a P6 I an D term6 a% popu!ation< B&en t&e c&romo%ome enter% t&e e0a!uation #unction6 it i% %p!it up into it% t&ree Term%< T&e P6 I an D (ain% are u%e to create a PID contro!!er accor in( to t&e e$uation be!o'< e#ine b* t&e /1ro' Tboun %; ec!aration '&en creatin( t&e

65

PID CONTROLLER TUNING USING GENETIC ALGORITHM

T&e ne'!* #orme PID contro!!er i% p!ace in a unit* #ee bac5 !oop 'it& t&e S*%tem;% tran%#er #unction< T&i% 'i!! re%u!t in a re uction o# t&e compi!ation time o# t&e pro(ram< T&e %*%tem tran%#er #unction i% e#ine in anot&er #i!e an importe a% a (!oba! 0ariab!e< T&e contro!!e %*%tem i% t&en (i0en a %tep input an t&e error i% a%%e%%e u%in( an error per#ormance criterion %uc& a% Mean S$uare Error or in %&ort MSE< T&e MSE i% an accepte mea%ure o# contro! an o# $ua!it* but it% practica! u%e a% a mea%ure o# $ua!it* i% an o0era!! #itne%% 0a!ue %ome&o' !imite < T&e c&romo%ome i% a%%i(ne

accor in( to t&e ma(nitu e o# t&e error6 t&e %ma!!er t&e error t&e !ar(er t&e #itne%% 0a!ue< )e!o' i% t&e co e% u%e to imp!ement t&e MSE per#ormance criteria<

HCa!cu!atin( t&e error #or iO2+/32 error8i: O 21*8i:I en HCa!cu!atin( t&e MSE errorS%$ O errorUerror;I MSEOerrorS%$9ma=8%i@e8error::I

"i(ure 4-< Ca!cu!atin( t&e error o# t&e %*%tem u%in( MSE citeria<

A itiona! co e 'a% a

e to en%ure t&at t&e (enetic a!(orit&m con0er(e% to

a contro!!er t&at pro uce% a %tab!e %*%tem< T&e co e6 %&o'n in "i(ure 4.6
66

PID CONTROLLER TUNING USING GENETIC ALGORITHM

a%%e%%e% t&e po!e% o# t&e contro!!e %*%tem an i# t&e* are #oun to be un%tab!e t&at i% on t&e ri(&t &a!# o# t&e %1p!ane6 t&e error i% a%%i(ne an e=treme!* !ar(e 0a!ue to ma5e %ure t&at t&e c&romo%ome i% not re%e!ecte <

HEn%urin( contro!!e %*%tem i% %tab!e po!e%Opo!e8%*%Scontro!!e :I i# po!e%82:V3 MSEO233e/33I e!%ei# po!e%84:V3 MSEO233e/33I e!%ei# po!e%8/:V3 MSEO233e/33I e!%ei# po!e%8-:V3 MSEO233e/33I e!%ei# po!e%8.:V3 MSEO233e/33I en #=S0a!O29MSEI

"i(ure 4.< Stabi!it* O# T&e Contro!!e S*%tem<

2.< R&'#(*' O% Th& I -(& &+*&" G&+&*i) A(,!ri*h C!+*r!((&r

PID

In t&e #o!!o'in( %ection6 t&e re%u!t% o# t&e imp!emente Genetic A!(orit&m PID Contro!!er 'i!! be ana!*@e < T&e GA e%i(ne PID contro!!er i% initia!!* initia!i@e 'it& popu!ation %i@e o# 43 an t&e re%pon%e ana!*@e < It 'a% t&en initia!i@e 'it& popu!ation %i@e o# -36 A36 ,3 an ?3< T&e re%pon%e o# t&e GA e%i(ne PID 'i!! t&en be ana!*@e #or t&e %ma!!e%t o0er%&oot6 #a%te%t ri%e time an t&e #a%te%t %ett!in( time< T&e be%t re%pon%e 'i!! t&en be %e!ecte <

67

PID CONTROLLER TUNING USING GENETIC ALGORITHM

"rom t&e #o!!o'in( re%pon%e%6 t&e GA e%i(ne PID 'i!! be compare to t&e Steepe%t De%cent Gra ient Met&o < T&e %uperiorit* o# GA a(ain%t t&e SDG met&o 'i!! be %&o'n< T&e #o!!o'in( i% t&e p!ot o# t&e GA e%i(ne PID 'it& t&e popu!ation %i@e 43< "rom t&e #i(ure be!o'6 t&e re%pon%e o# t&e GA PID 'i!! be ana!*@e <

"i(ure 4A< PID Re%pon%e Bit& Popu!ation Si@e O# 43<

"rom t&e "i(ure 4A6 t&e re%pon%e o# %*%tem !oo5% rea%onab!e %tab!e< Ho'e0er it can be %een in t&e abo0e p!ot t&at t&ere i% an o##%et in t&e

68

PID CONTROLLER TUNING USING GENETIC ALGORITHM

re%pon%e< Let ob%er0e i# t&e o##%et can be remo0e 'it& a bi((er popu!ation %i@e< T&e%e can be ob%er0e in t&e #uture p!ot%<

"i(ure 4>< Ana!*%i% o# PID Re%pon%e Bit& Popu!ation Si@e O# 43<

"rom t&e abo0e #i(ure 6 t&e etai!% o# t&e %*%tem re%pon%e 'i!! be ana!*@e < T&e pea5 amp!itu e o# t&e re%pon%e i% 2<22< T&e o0er%&oot o# t&e re%pon%e i% 23<AH<T&e %ett!in( time o# t&e re%pon%e i% A<?> %econ % an #ina!!* t&e re%pon%e o# t&e ri%e time i% 3<AAA %econ %< "rom one !oo56 t&e abo0e re%pon%e i% c!a%%ica! PID tunin( met&o a% %&o'n in t&e c&apter -< Ho'e0er &o' oe% it #are a(ain%t t&e one optimi@e u%in( t&e Steepe%t De%cent Gra ient Met&o D T&i% 'i!! be
69

e#inite!* muc& better t&an t&e

PID CONTROLLER TUNING USING GENETIC ALGORITHM

an%'ere a#ter 'e ana!*@e t&e #o!!o'in( re%pon%e%< T&e #o!!o'in( #i(ure epict t&e re%pon%e o# GA e%i(ne PID 'it& t&e popu!ation %i@e o# -3<

"rom t&e #o!!o'in( "i(ure 4, abo0e6 t&e %*%tem re%pon%e i% muc& better t&an t&e one %imu!ate 'it& t&e popu!ation %i@e o# 43< It can be ob%er0e t&at t&e %*%tem o##%et &a% been remo0e < In t&e be!o' p!ot6 t&e etai! o# t&e re%pon%e 'i!! be ana!*@e <

70

PID CONTROLLER TUNING USING GENETIC ALGORITHM

"i(ure 4?< Ana!*%i% O# PID Re%pon%e Bit& Popu!ation Si@e O# -3<

"rom t&e abo0e #i(ure6 t&e etai!% o# t&e re%pon%e 'i!! be ana!*@e < T&e pea5 amp!itu e o# t&e re%pon%e i% 2<3>< T&e o0er%&oot o# t&e re%pon%e i% A<?,H< T&e %ett!in( time o# t&e re%pon%e i% 4<4 %econ % an t&e ri%e time o# 3<A%econ %< "rom t&e #o!!o'in( re%u!t%6 it i% ob0iou% t&at t&e popu!ation o# %i@e -3 &a% returne a better re%u!t% t&an t&e one 'it& t&e popu!ation %i@e o# 43< In t&i% re%pon%e6 t&e o0er%&oot 0a!ue &a% impro0e < T&e %ett!in( time &a% re uce #rom A<?> %econ % to 4<4 %econ %< T&e ri%e time &a% impro0e %!i(&t!* t&at i% 3<A-%econ % a% compare to 3<AAA %econ %< T&e o0era!! re%pon%e i% t&at it &a% impro0e a% compare to t&e one in #i(ure 4><

71

PID CONTROLLER TUNING USING GENETIC ALGORITHM

"i(ure /3< Ana!*%i% O# PID Re%pon%e Bit& Popu!ation Si@e O# A3<

T&e abo0e #i(ure

epict t&e re%pon%e o# t&e GA

e%i(ne

PID 'it&

popu!ation %i@e o# A3< T&e re%pon%e &a% t&e pea5 amp!itu e o# 2<3A< It &a% an o0er%&oot o# .<>-H6 %ett!in( time o# 2<?2 %ec an t&e ri%e time o# 3<A2, %ec< T&i% #urt&er e%tab!i%&e t&at t&e bi((er popu!ation %i@e returne t&e better %*%tem re%pon%e<

72

PID CONTROLLER TUNING USING GENETIC ALGORITHM

"i(ure /2< PID Re%pon%e Bit& Popu!ation Si@e O# ,3<

"ina!!* !et% !oo5 at t&e %*%tem re%pon%e o# t&e popu!ation %i@e o# ,3< "rom ob%er0ation6 t&e %*%tem returne a muc& better re%pon%e< Let ana!*@e &o' oe% t&e pre%ent re%pon%e per#orm a(ain%t t&e ot&er GA re%u!t% an #ina!!* t&e one optimi@e 'it& t&e Steepe%t De%cent Gra ient Met&o <

73

PID CONTROLLER TUNING USING GENETIC ALGORITHM

"i(ure /4< Ana!*%i% O# PID Re%pon%e Bit& Popu!ation Si@e O# ,3<

T&e GA e%i(ne PID 'it& popu!ation %i@e o# ,3 &a% t&e #o!!o'in( re%pon%e #actor%< T&e Pea5 Amp!itu e o# 2<3.< O0er%&oot o# -<,AH< Ri%e time o# 3<.?4 %econ %< Sett!in( time o# 2<AA %econ %< T&e popu!ation %i@e o# ?3 an abo0e 'ere trie an t&e pro(ram &a% not %&o'n an* %i(n o# impro0ement in t&e optimi@ation< Hence a eci%ion 'a% ma e to %tic5 to t&e popu!ation %i@e o# ,3 an ana!*@e it a(ain%t t&e Steepe%t De%cent Gra ient Met&o PID optimi@ation< Procee in( 'it& t&e &i(&er popu!ation %i@e 'i!! ta5e up a !ot o# computer memor* %pace< Since t&e Genetic A!(orit&m e%i(ne PID 'it& popu!ation %i@e o# ,3 %eem% to &a0e t&e be%t re%pon%e a% compare to t&e ot&er% re%pon%e%< No' &o' oe%
74

PID CONTROLLER TUNING USING GENETIC ALGORITHM

t&e GA e%i(ne PID %tan % a(ain%t t&e Steepe%t De%cent Gra ient Met&o PIDD T&e #o!!o'in( p!ot 'i!! %&o' t&at t&e GA e%i(ne PID per#orme better t&an t&e Steepe%t De%cent Gra ient Met&o 8SDGM:<

"i(ure //< Re%pon%e O# GA De%i(ne PID Cer%u% Steepe%t De%cent Optimi@ation Met&o <

T&e abo0e ana!*%i% i% %ummari@e in t&e #o!!o'in( tab!e<

Tab!e /< Re%u!t% O# SDGM De%i(ne Contro!!er An GA De%i(ne Contro!!er<

75

PID CONTROLLER TUNING USING GENETIC ALGORITHM

"rom tab!e /6 'e can %ee t&at t&e GA e%i(ne contro!!er &a% a %i(ni#icant Impro0ement o0er t&e SDGM e%i(ne contro!!er< On a0era(e t&e percenta(e impro0ement o# GA contro!!er a(ain%t SDGM contro!!er ran(e #rom /3 H to -3 H 'it& t&e e=ception o# t&e mea%urement on o0er%&oot< In t&e SDGM contro!!er6 it out per#orme t&e GA e%i(ne contro!!er< Ho'e0er t&e %etbac5 i% t&at it i% in#erior '&en it i% compare to t&e ri%e time an t&e %ett!in( time< T&i% i% '&ere GA e=ce!< "ina!!* t&e impro0ement &a% imp!ication on t&e e##icienc* o# t&e %*%tem un er %tu *< In t&e area o# turbine %pee contro! t&e #a%ter re%pon%e to re%earc& %tabi!it*6 t&e better i% t&e re%u!t #or t&e p!ant< T&i% 'i!! be i%cu%%e #urt&er in t&e #o!!o'in( c&apter<

76

PID CONTROLLER TUNING USING GENETIC ALGORITHM

Cha-*&r <
F#r*h&r W!r.' A+" C!+)(#'i!+'
<.5 F#r*h&r W!r.'
It i% &ope t&at t&i% project can be impro0e to inc!u e t&e imp!ementation o# tunin( t&e PID contro!!er 0ia GA in an on!ine en0ironment< T&i% 'i!! &a0e muc& impact in t&e optimi@ation o# t&e %*%tem un er contro! < A% #or t&e %ubject un er %tu *6 i# t&e p!ant or t&e turbine %*%tem can be tune u%in( GA in an on!ine en0ironment6 t&ere 'i!! be minimum !o%%e% on t&e proce%%< T&e %team u%e to ri0e t&e turbine 'i!! be #u!!* uti!i@e an t&e ener(* tran%#erre ma=imi@e < T&ere 'i!! be minimum !o%% %ince t&e re%pon%e %&o'n abo0e i% a% c!o%e to t&e unit %tep< Hence in t&e re#inerie%6 t&i% 'i!! tran%!ate to better pro#it mar(in

<.8 C!+)(#'i!+'
In conc!u%ion t&e re%pon%e% a% %&o'n in c&apter .6 &a %&o'e to u% t&at t&e e%i(ne PID 'it& GA &a% muc& #a%ter re%pon%e t&an u%in( t&e c!a%%ica! met&o < T&e c!a%%ica! met&o i% (oo #or (i0in( u% a% t&e %tartin( point o# '&at are t&e PID 0a!ue%< Ho'e0er a% %&o'n in c&apter -6 t&e approac&e in eri0in( t&e initia! PID 0a!ue% u%in( c!a%%ica! met&o i% rat&er troub!e%ome<

77

PID CONTROLLER TUNING USING GENETIC ALGORITHM

T&ere are man* %tep% an a!%o b* tria! an error in (ettin( t&e PID 0a!ue% be#ore *ou can narro' o'n in (ettin( c!o%e to t&e optimi@e 0a!ue%< An optimi@e a!(orit&m 'a% imp!emente in t&e %*%tem to %ee an %tu * &o' t&e %*%tem re%pon%e i%< T&i% 'a% ac&ie0e t&rou(& imp!ementin( t&e %teepe%t e%cent (ra ient met&o < T&e re%u!t 'a% (oo but a% 'a% %&o'n in Tab!e / an "i(ure //< Ho'e0er t&e GA e%i(ne PID i% muc& better in term% o# t&e ri%e time an t&e %ett!in( time< T&e %teepe%t e%cent (ra ient met&o &a% no o0er%&oot but ue to it% nature o# T&i!! c!imbin(;6 it %u##er% in term% o# ri%e time an %ett!in( time< Bit& re%pect to t&e computationa! time6 it i% notice t&at t&e SDGM

optimi@ation ta5e% a !on(er time to reac& it pea5 a% compare to t&e one e%i(ne 'it& GA< T&i% i% not a po%iti0e point i# *ou are to imp!ement t&i% met&o in an on!ine en0ironment< It on!* mean% t&at t&e SDGM u%e% more memor* %pace% an &ence ta5e up more time to reac& t&e pea5< T&i% project &a% e=po%e me to 0ariou% PID contro! %trate(ie%< It &a%

increa%e m* 5no'!e (e in Contro! En(ineerin( an Genetic A!(orit&m in %peci#ic< It &a% a!%o %&o'n me t&at t&ere are numerou% met&o % o# PID tunin(% a0ai!ab!e in t&e aca emic% an in u%tria! #ie! %< Pre0iou%!* I 'a% com#ortab!e 'it& E1N c!a%%ica! met&o % but no' I 'ou! !i5e to 0enture into ot&er% met&o % a0ai!ab!e< "ina!!* t&i% project &a% ma e me more appreciati0e o# t&e Contro! En(ineerin( an it% contribution to t&e impro0ement o# t&e in u%tria! an %ociet*< T&e #act i%6 in e0er* a%pect o# our !i#e6 Contro! En(ineerin( i% a!'a*% 'it& u%< Let it be in our room6 in our car or e0en in t&e comp!e=
78

PID CONTROLLER TUNING USING GENETIC ALGORITHM

app!ication o# t&e )io1me ica! #ie! < A% our !i#e impro0e% 'it& more automate %*%tem a0ai!ab!e in our ai!* !i#e6 be con%ciou% t&at t&e bac5(roun o# t&e%e &appenin( i% t&e 'or5in( o# contro! en(ineerin(<

79

PID CONTROLLER TUNING USING GENETIC ALGORITHM

R&%&r&+)&'
L2M A%trom6 F<6 T< Ha((!un 6 <P D !ontrollers2 Theor#, Design and Tuning.6 In%trument Societ* o# America6 Re%earc& Trian(!e Par56 433.< L4M Go! ber(6 Da0i E< <Genetic Algorithms in Search, Optimization and Machine Learning<A i%on1Be%!e* Pub< Co< 433/< L/M C&ri% Houc56 Ge## Goine%6 an Mi5e Fa*6 3A Genetic Algorithm $or 0unction Optimization" A Matla& mplementation3 NCSU1IE TR ?.13?6 2??.<&ttp+99'''<ie<nc%u<e u9mira(e9GAToo!)o=9(aot9 L-M G<G< )atta(!ia an G<M< Ma*nar 6 < Mean s4uare %rror" A *se$ul Tool $or Statistical Process Management6 AMP G< Tec&no!< 46 ->1..6 4332< L.M J<Ban(6 P<Spronc5 7 R<Trac&t6 . An O(er(ie) O$ Genetic Algorithms Applied To !ontrol %ngineering Pro&lems, Procee in(% o# t&e Secon Con#erence on Mac&ine Learnin( an C*bernetic%6 4333< LAM Lu5e6S<6 )a!an6 G<C< an Panait6 L6 <Population mplosion n Genetic Programming<6 Department O# Computer Science6 Geor(e Ma%on Uni0er%it*<&ttp+99'''<c%<(mu<e u9Wec!ab L>M Got%&a!!6S< an Con#erence64333< R*!an er6 )<6 <Optimal Population Size And The E0o!utionar* Computation

GeneticAlgoithm.<6 Proc On Genetic An

80

PID CONTROLLER TUNING USING GENETIC ALGORITHM

L,M Naeem6 B<6 Sutton6 R< C&u !e*< G6 Da!(!ei%&6 "<R< an Tet!o'6 S< An Online Genetic Algorithm Based Model Predicti(e !ontrol Autopilot Design ,ith %'perimental 5eri$ication.< Internationa! Gourna! O# Contro!6 Co! >,6 No< 2-6 p( 23>A < 23?36 September 4333< L?M S5o(e%ta 6 S<6 Pro&a&l# The Best Simple P D Tuning +ules n The ,orld<< Gourna! O# Proce%% Contro!6 September 4333< L23M Herrero6 G<M<6 )!a%co6 P6 Martine@6 M an Sa!ce o6 G<C<6 <Optimal P D Tuning ,ith Genetic Algorithm 0or 6on Linear Process Models<2.t& Triennia! Bor! Con(re%%6 2???< L22M O<D'*er6 A< <P And P D !ontroller Tuning +ules 0or Time Dela# Process" A Summar#. Part ." P !ontroller Tuning +ules<Procee in(% O# Iri%& Si(na!% An S*%tem% Con#erence6 Gune 2???< L24M F< Fri%&na5umar an D< E< Go! ber(6 <!ontrol S#stem Optimization *sing Genetic Algorithms< Gourna! o# Gui ance6 Contro! an D*namic%6 Co!< 2.6 No< /6 pp< >/.1>-36 2??4< L2/M T O< Ma&on*6 C G Do'nin( an F "at!a6 Genetic Algorithm $or P D Parameter Optimization" Minimizing %rror !riteria< Proce%% Contro! an In%trumentation 4333 4A14, Gu!* 43336 Uni0er%it* o# Stract&c!* e6 p( 2-,1 2./6 Gu!* 2??,<

81

PID CONTROLLER TUNING USING GENETIC ALGORITHM

A--&+"iA 5
S*&&-&'*B"&')&+*B%!rB'*&-.
%------------------------------------------------------------clear pack clc format long e M = 1601; %number of samples taken starting from nT=0 T = 0.0025; %in second r = ones(1,M); %Unit step signal q0 = 0.001; q1 = -q0; q2 = 0; initial_q = [q0 q1 q2]; s_old = []; %store the value of s delta_q = 0.00009; gamma = 0.005; %step length number_of_trial = 51; for index = 1:1:number_of_trial, %Finding S [k,e] = e_function(T,q0,q1,q2,r); s = abs(e)*k'; %absolute value of matrix e multiply %with transpose of matrix k %Finding S_q0 [k,e] = e_function(T,(q0+delta_q),q1,q2,r); s_q0 = abs(e)*k'; %Finding S_q1 [k,e] = e_function(T,q0,(q1+delta_q),q2,r); s_q1 = abs(e)*k'; %Finding S_q2 [k,e] = e_function(T,q0,q1,(q2+delta_q),r); s_q2 = abs(e)*k'; grad_of_s_due_to_q0 = (s_q0-s)/delta_q; grad_of_s_due_to_q1 = (s_q1-s)/delta_q; grad_of_s_due_to_q2 = (s_q2-s)/delta_q; delta = sqrt(grad_of_s_due_to_q0^2+... grad_of_s_due_to_q1^2+... grad_of_s_due_to_q2^2); constant_p = gamma/delta;

q0_old = q0;

82

PID CONTROLLER TUNING USING GENETIC ALGORITHM

q1_old = q1; q2_old = q2; if index < number_of_trial, s_old = s; end q0 = q0 - constant_p * grad_of_s_due_to_q0; q1 = q1 - constant_p * grad_of_s_due_to_q1; q2 = q2 - constant_p * grad_of_s_due_to_q2; end save try_step initial_q q0 q1 q2 T r index delta_q gamma save try_step_backcopy initial_q q0_old q1_old q2_old s_old save try_step_backcopy q0 q1 q2 s T r index delta_q gamma -append disp('Previous value q0 q1 q2 s') [q0_old,q1_old,q2_old,s_old] disp('Latest value q0 q1 q2 s') [q0,q1,q2,s] [k,e] = e_function(T,q0,q1,q2,r); c = r - e; plot(k,e) xlabel('time(nT)'),ylabel('e(nT)') title('Error signal,e(nT)') figure(1); plot(k,c) xlabel('time(nT)'),ylabel('c(nT)') title('Output signal,c(nT)') figure(2);

%---------------------------------------------------------------------

EBF#+)*i!+.
function [k,e]=e_function(T,q0,q1,q2,r)

83

PID CONTROLLER TUNING USING GENETIC ALGORITHM

%E_FUNCTION % % % % % % % % % % % %

Calculate the error signal, e(nT) in a closed loop system The format is given as [k,e]=e_function(T,q0,q1,q2,r) r is the input signal which starts from nT = 0. Since the E_FUNCTION is derived using 'nT', r should be a function of 'nT'. T is the sample period. q0, q1, q2, are the parameters of a digital PID controller. E_FUNCTION returns the error ouput, e and matrix k which contains [0 T 2T 3T ...].

%Check the number of input arguments if nargin < 5, error('The number of input arguments is less than 5.'); end %Check the number of output arguments if nargout < 2, error('The number of output arguments is less than 2.'); end A = 2*exp(-5*T)+1+exp(-T); B = exp(-5*T)+exp(-6*T); B1 B2 B3 B4 B5 B6 = = = = = = q0; q1; q2; (1+A); (A+B); B;

D=2+B1; [n,M] = size(r); signal_r = r; r = [0 0 0 0]; %Make a copy of signal r(nT) %r(1) %r(2) %r(3) %r(4) point point point point to to to to r(nT); r(nT-T); r(nT-2T); r(nT-3T); to to to to e(nT); e(nT-T); e(nT-2T); e(nT-3T);

e_temp = [0 0 0 0 ];

%e_temp(1) %e_temp(2) %e_temp(3) %e_temp(4)

point point point point

for k = 1:1:M,

r(1) = signal_r(k); e_temp(1) = (2/D)*r(1)+(B4/D)*r(2)+(B5/D)*r(3)+(B6/D)*r(4)-... ((B4+B2)/D)*e_temp(2)-((B5+B3)/D)*e_temp(3)-...

84

PID CONTROLLER TUNING USING GENETIC ALGORITHM

(B6/D)*e_temp(4);

e(k)=e_temp(1); r(4)=r(3); r(3)=r(2); r(2)=r(1); e_temp(5)=e_temp(4); e_temp(4)=e_temp(3); e_temp(3)=e_temp(2); e_temp(2)=e_temp(1); end k=T*[0:1:M-1]; %The time that a particular sample is taken

%----------------------------------------------------------------

I+i*ia(BPIDBGA.
%____________________________________________________________________ clc clear

85

PID CONTROLLER TUNING USING GENETIC ALGORITHM

close all global sys_controlled global time global sysrl %Plant. %____________________________________________________________________ %Defining sysrl den1=[1 6 5 0]; num1=[1]; sysrl=tf(num1,den1); %____________________________________________________________________ %Initialising the genetic algorithm populationSize=80; variableBounds=[-100 100;-100 100;-100 100]; evalFN='PID_objfun_MSE'; %Change this to relevant object function evalOps=[]; options=[1e-6 1]; initPop=initializega(populationSize,variableBounds,evalFN,... evalOps,options); %____________________________________________________________________ %Setting the parameters for the genetic algorithm bounds=[-100 100;-100 100;-100 100]; evalFN='PID_objfun_MSE';%change this to relevant object function evalOps=[]; startPop=initPop; opts=[1e-6 1 0]; termFN='maxGenTerm'; termOps=100; selectFN='normGeomSelect'; selectOps=0.08; xOverFNs='arithXover'; xOverOps=4; mutFNs='unifMutation'; mutOps=8; %____________________________________________________________________ %Iterating the genetic algorithm [x,endPop,bPop,traceInfo]=ga(bounds,evalFN,evalOps,startPop,opts,... termFN,termOps,selectFN,selectOps,xOverFNs,xOverOps,mutFNs,mutOps); %____________________________________________________________________ %Plotting Genetic algorithm controller den1=[1 6 5 0]; num1=[1]; sysrl=tf(num1,den1); %Creating the optimal PID controller from GA results ga_pid=tf([x(1) x(2) x(3)],[1 0]); ga_sys=feedback(series(ga_pid,sysrl),1); figure(1) hold on; step(ga_sys,time,'g');%Green-genetic algorithm %____________________________________________________________________ %Plotting best population progress figure(2) subplot(3,1,1),plot(bPop(:,1),bPop(:,3)),... title('Kp Value'),, ylabel('Gain'); subplot(3,1,2),plot(bPop(:,1),bPop(:,4)),... title('Ki Value'),, ylabel('Gain'); subplot(3,1,3),plot(bPop(:,1),bPop(:,2)),... title('Kd Value'),xlabel('Generations'), ylabel('Gain');

86

PID CONTROLLER TUNING USING GENETIC ALGORITHM

%____________________________________________________________________

PIDSobj#unSm%e<m
%____________________________________________________________________ function [x_pop, fx_val]=PID_objfun_MSE(x_pop,options) global sys_controlled global time global sysrl %____________________________________________________________________ Kp=x_pop(2);

87

PID CONTROLLER TUNING USING GENETIC ALGORITHM

Ki=x_pop(3); Kd=x_pop(1); %____________________________________________________________________ %creating the PID controller from current values pid_den=[1 0]; pid_num=[Kd Kp Ki]; pid_sys=tf(pid_num,pid_den); %overall PID controller %Placing PID controller in unity feedback system with 'sysrl' sys_series=series(pid_sys,sysrl); sys_controlled=feedback(sys_series,1); %____________________________________________________________________ time =0:0.1:30; [y t] = step(sys_controlled,time); % Step response of closed-loop system %____________________________________________________________________ %Calculating the error for i=1:301 error(i) = 1-y(i); end %Calculating the MSE error_sq = error*error'; MSE=error_sq/max(size(error)); %____________________________________________________________________ %Ensuring controlled system is stable poles=pole(sys_controlled); if poles(1)>0 MSE=100e300; elseif poles(2)>0 MSE=100e300; elseif poles(3)>0 MSE=100e300; elseif poles(4)>0 MSE=100e300; elseif poles(5)>0 MSE=100e300; end fx_val=1/MSE; %____________________________________________________________________

Ma*(a4 C!"&' Fr! Ga.

GAOT

%------------------------------------------------------------------function [x,endPop,bPop,traceInfo] = ga(bounds,evalFN,evalOps,startPop,opts,... termFN,termOps,selectFN,selectOps,xOverFNs,xOverOps,mutFNs,mutOps) % GA run a genetic algorithm % function

88

PID CONTROLLER TUNING USING GENETIC ALGORITHM

%[x,endPop,bPop,traceInfo]=ga(bounds,evalFN,evalOps,startPop,opts, % %termFN,termOps,selectFN,selectOps, % %xOverFNs,xOverOps,mutFNs,mutOps) % % Output Arguments: % x - the best solution found during the course of the run % endPop - the final population % bPop - a trace of the best population % traceInfo - a matrix of best and means of the ga for each %generation % % Input Arguments: % bounds - a matrix of upper and lower bounds on the variables % evalFN - the name of the evaluation .m function % evalOps - options to pass to the evaluation function ([NULL]) % startPop - a matrix of solutions that can be initialized % from initialize.m % opts - [epsilon prob_ops display] change required to %consider two % solutions different, prob_ops 0 if you want to apply %the % genetic operators probabilisticly to each solution, %1 if % you are supplying a deterministic number of operator % applications and display is 1 to output progress 0 %for % quiet. ([1e-6 1 0]) % termFN - name of the .m termination function (['maxGenTerm']) % termOps - options string to be passed to the termination %function % ([100]). % selectFN - name of the .m selection function %(['normGeomSelect']) % selectOpts - options string to be passed to select after % select(pop,#,opts) ([0.08]) % xOverFNS - a string containing blank seperated names of Xover.m % files (['arithXover heuristicXover simpleXover']) % xOverOps - A matrix of options to pass to Xover.m files with %the % first column being the number of that xOver to %perform % similiarly for mutation ([2 0;2 3;2 0]) % mutFNs - a string containing blank seperated names of %mutation.m % files (['boundaryMutation multiNonUnifMutation ... % nonUnifMutation unifMutation']) % mutOps - A matrix of options to pass to Xover.m files with %the % first column being the number of that xOver to %perform % similiarly for mutation ([4 0 0;6 100 3;4 100 3;4 0 0]) % % Binary and Real-Valued Simulation Evolution for Matlab % Copyright (C) 1996 C.R. Houck, J.A. Joines, M.G. Kay % % C.R. Houck, J.Joines, and M.Kay. A genetic algorithm for function % optimization: A Matlab implementation. ACM Transactions on

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PID CONTROLLER TUNING USING GENETIC ALGORITHM

%Mathmatical % Software, Submitted 1996. % % This program is free software; you can redistribute it and/or modify % it under the terms of the GNU General Public License as published by % the Free Software Foundation; either version 1, or (at your option) % any later version. % % This program is distributed in the hope that it will be useful, % but WITHOUT ANY WARRANTY; without even the implied warranty of % MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the % GNU General Public License for more details. A copy of the GNU % General Public License can be obtained from the % Free Software Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA. %%$Log: ga.m,v $ %Revision 1.10 1996/02/02 15:03:00 jjoine % Fixed the ordering of imput arguments in the comments to match % the actual order in the ga function. % %Revision 1.9 1995/08/28 20:01:07 chouck % Updated initialization parameters, updated mutation parameters to reflect % b being the third option to the nonuniform mutations % %Revision 1.8 1995/08/10 12:59:49 jjoine %Started Logfile to keep track of revisions % n=nargin; if n<2 | n==6 | n==10 | n==12 disp('Insufficient arguements') end if n<3 %Default evalation opts. evalOps=[]; end if n<5 opts = [1e-6 1 0]; end if isempty(opts) opts = [1e-6 1 0]; end

if any(evalFN<48) %Not using a .m file if opts(2)==1 %Float ga e1str=['x=c1; c1(xZomeLength)=', evalFN ';']; e2str=['x=c2; c2(xZomeLength)=', evalFN ';']; else %Binary ga e1str=['x=b2f(endPop(j,:),bounds,bits); endPop(j,xZomeLength)=',... evalFN ';']; end else %Are using a .m file if opts(2)==1 %Float ga e1str=['[c1 c1(xZomeLength)]=' evalFN '(c1,[gen evalOps]);']; e2str=['[c2 c2(xZomeLength)]=' evalFN '(c2,[gen evalOps]);']; else %Binary ga e1str=['x=b2f(endPop(j,:),bounds,bits);[x v]=' evalFN ...

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PID CONTROLLER TUNING USING GENETIC ALGORITHM

'(x,[gen evalOps]); endPop(j,:)=[f2b(x,bounds,bits) v];']; end end if n<6 %Default termination information termOps=[100]; termFN='maxGenTerm'; end if n<12 %Default muatation information if opts(2)==1 %Float GA mutFNs=['boundaryMutation multiNonUnifMutation nonUnifMutation unifMutation']; mutOps=[4 0 0;6 termOps(1) 3;4 termOps(1) 3;4 0 0]; else %Binary GA mutFNs=['binaryMutation']; mutOps=[0.05]; end end if n<10 %Default crossover information if opts(2)==1 %Float GA xOverFNs=['arithXover heuristicXover simpleXover']; xOverOps=[2 0;2 3;2 0]; else %Binary GA xOverFNs=['simpleXover']; xOverOps=[0.6]; end end if n<9 %Default select opts only i.e. roullete wheel. selectOps=[]; end if n<8 %Default select info selectFN=['normGeomSelect']; selectOps=[0.08]; end if n<6 %Default termination information termOps=[100]; termFN='maxGenTerm'; end if n<4 %No starting population passed given startPop=[]; end if isempty(startPop) %Generate a population at random

%startPop=zeros(80,size(bounds,1)+1); startPop=initializega(80,bounds,evalFN,evalOps,opts(1:2)); end if opts(2)==0 %binary bits=calcbits(bounds,opts(1)); end xOverFNs=parse(xOverFNs); mutFNs=parse(mutFNs); xZomeLength = size(startPop,2); %Length of the xzome=numVars+fittness numVar = xZomeLength-1; %Number of variables popSize = size(startPop,1); %Number of individuals in the pop endPop = zeros(popSize,xZomeLength); %A secondary population

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PID CONTROLLER TUNING USING GENETIC ALGORITHM

matrix c1 = zeros(1,xZomeLength); %An individual c2 = zeros(1,xZomeLength); %An individual numXOvers = size(xOverFNs,1); %Number of Crossover operators numMuts = size(mutFNs,1); %Number of Mutation operators epsilon = opts(1); %Threshold for two fittness to differ oval = max(startPop(:,xZomeLength)); %Best value in start pop bFoundIn = 1; %Number of times best has changed done = 0; %Done with simulated evolution gen = 1; %Current Generation Number collectTrace = (nargout>3); %Should we collect info every gen floatGA = opts(2)==1; %Probabilistic application of ops display = opts(3); %Display progress while(~done) %Elitist Model [bval,bindx] = max(startPop(:,xZomeLength)); %Best of current pop best = startPop(bindx,:); if collectTrace traceInfo(gen,1)=gen; %current generation traceInfo(gen,2)=startPop(bindx,xZomeLength); %Best fittness traceInfo(gen,3)=mean(startPop(:,xZomeLength)); %Avg fittness traceInfo(gen,4)=std(startPop(:,xZomeLength)); end if ( (abs(bval - oval)>epsilon) | (gen==1)) % if display fprintf(1,'\n%d %f\n',gen,bval); %Update the display end if floatGA bPop(bFoundIn,:)=[gen startPop(bindx,:)]; %Update bPop Matrix else bPop(bFoundIn,:)=[gen b2f(startPop(bindx,1:numVar),bounds,bits)... startPop(bindx,xZomeLength)]; end bFoundIn=bFoundIn+1; %Update number of changes oval=bval; %Update the best val else if display fprintf(1,'%d ',gen); %Otherwise just update num gen end

end endPop = feval(selectFN,startPop,[gen selectOps]); %Select if floatGA %Running with the model where the parameters are numbers of %ops for i=1:numXOvers, for j=1:xOverOps(i,1), a = round(rand*(popSize-1)+1); %Pick a parent b = round(rand*(popSize-1)+1); %Pick another parent xN=deblank(xOverFNs(i,:)); %Get the name of crossover function [c1 c2] = feval(xN,endPop(a,:),endPop(b,:),bounds,[gen xOverOps(i,:)]); if c1(1:numVar)==endPop(a,(1:numVar)) %Make sure we created a new c1(xZomeLength)=endPop(a,xZomeLength); elseif c1(1:numVar)==endPop(b,(1:numVar)) c1(xZomeLength)=endPop(b,xZomeLength); else %[c1(xZomeLength) c1] = feval(evalFN,c1,[gen evalOps]); eval(e1str); end

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PID CONTROLLER TUNING USING GENETIC ALGORITHM

if c2(1:numVar)==endPop(a,(1:numVar)) c2(xZomeLength)=endPop(a,xZomeLength); elseif c2(1:numVar)==endPop(b,(1:numVar)) c2(xZomeLength)=endPop(b,xZomeLength); else %[c2(xZomeLength) c2] = feval(evalFN,c2,[gen evalOps]); eval(e2str); end endPop(a,:)=c1; endPop(b,:)=c2; end end for i=1:numMuts, for j=1:mutOps(i,1), a = round(rand*(popSize-1)+1); c1 = feval(deblank(mutFNs(i,:)),endPop(a,:),bounds,[gen mutOps(i,:)]); if c1(1:numVar)==endPop(a,(1:numVar)) c1(xZomeLength)=endPop(a,xZomeLength); else %[c1(xZomeLength) c1] = feval(evalFN,c1,[gen evalOps]); eval(e1str); end endPop(a,:)=c1; end end else %We are running a probabilistic model of genetic operators for i=1:numXOvers, xN=deblank(xOverFNs(i,:)); %Get the name of crossover function cp=find(rand(popSize,1)<xOverOps(i,1)==1); if rem(size(cp,1),2) cp=cp(1:(size(cp,1)-1)); end cp=reshape(cp,size(cp,1)/2,2); for j=1:size(cp,1) a=cp(j,1); b=cp(j,2);

[endPop(a,:) endPop(b,:)] = feval(xN,endPop(a,:),endPop(b,:),... bounds,[gen xOverOps(i,:)]); end end for i=1:numMuts mN=deblank(mutFNs(i,:)); for j=1:popSize endPop(j,:) = feval(mN,endPop(j,:),bounds,[gen mutOps(i,:)]); eval(e1str); end end end gen=gen+1; done=feval(termFN,[gen termOps],bPop,endPop); %See if the ga is done startPop=endPop; %Swap the populations [bval,bindx] = min(startPop(:,xZomeLength)); %Keep the best solution startPop(bindx,:) = best; %replace it with the worst end [bval,bindx] = max(startPop(:,xZomeLength)); if display

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PID CONTROLLER TUNING USING GENETIC ALGORITHM

fprintf(1,'\n%d %f\n',gen,bval); end x=startPop(bindx,:); if opts(2)==0 %binary x=b2f(x,bounds,bits); bPop(bFoundIn,:)=[gen b2f(startPop(bindx,1:numVar),bounds,bits)... startPop(bindx,xZomeLength)]; else bPop(bFoundIn,:)=[gen startPop(bindx,:)]; end if collectTrace traceInfo(gen,1)=gen; %current generation traceInfo(gen,2)=startPop(bindx,xZomeLength); %Best fittness traceInfo(gen,3)=mean(startPop(:,xZomeLength)); %Avg fittness end %-----------------------------------------------------------------

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