PID Tuning with reference tracking and plant uncertainty along with disturbance rejection

Figures & data

Figure 1. Flowchart of PID tuning.

Figure 2. MATLAB model for proposed algorithm.

Figure 3. Un-optimized reference tracking specification.

Figure 4. Un-optimized step response specification.

Figure 5. Optimized step response specification.

Figure 6. Optimized response of reference tracking.

Table 1. Response specifications.

Iteration	Tracking specification (Minimize)	Step response specification (≤0)	Step response specification (≥0)
0	44.1621	0.1110	−0.2227
1	42.7059	0.0654	0.0059
2	34.7079	0.0327	0.0101
3	28.8287	0.0193	0.0105
4	28.7326	−0.0124	−0.0136
5	28.2733	0.0082	0.0105
6	28.3512	−0.0100	−0.0136
7	28.0604	−0.0103	−0.0013
8	27.8529	−0.0100	0.0036
9	27.7913	−0.0093	0.0038
10	27.7905	−0.0093	0.0041

Figure 7. Disturbance rejection.