Journal of Control Theory and Applications 3 (2004) 246- 252

Design of PID controller with incomplete derivation based on ant system algorithm
Guanzheng T A N , Qingdong Z E N G , Wenbin LI (Scbool of InformationScienceand Engineering, Central South University, ChangshaHunan410083,China)
A b s t r a c t : A new and intelligent design method for PID controller with incomplete derivation is proposed based on the ant

system algorithm (ASA). For a given control system with this kind of PID controller, a group of optimal PID controller parameters K~ , T[ , and T,~ can be obtained by taking the overshoot, settling time, and steady-state error of the system' s unit step response as the penComaanceindexes and by use of our improved ant system algorithm. K7 , T[, and T~ can be used in real-time control. This kind of controller is called the ASA-PID controller with incomplete derivation. To verify the performance of the ASA-PID controller, three different typical transfer functions were tested, and three existing typical tuning methods of PID controller parameters,including the Ziegler-Nichols method (ZN), the genetic algorithm (GA), and the simulated annealing (SA), were adopted for comparison. The simulation results showed that the ASA-PID controller can be used to control different objects and has better performance compared with the ZN-PID and GA-PID controllers, and comparable perfomaance compared with the SA-PID controller. Keywords: PID controller; Incomplete derivation; Parameter tuning; Ant system algorithm; Genetic algorithm; Simulated annealing ensure that a tuned system has a given gain.margin. If a gain margin and a phase margin are used simultaneously to tune the PID controller parameters, the tuned system will have good control performance. H o et al proposed a tuning method for PID controller parameters based on a given gain margin and a given phase margin, but the method is not suitable to the unstable objects [ 5 ] . The idea o f the ant system algorithm (ASA) was proposed by M . Dorigo et al in 199116]. The main characteristics o f the ant system algorithm are positive feedback search mechanism, distributed computation, and the use o f a constructive greedy heuristic. The positive feedback search is advantageous to rapid discovery o f good solutions, the distributed computation can avoid premature convergence, and the greedy heuristic helps to find the solutions in the early stages o f the search process. So far, ant system algorithms have been used successfully to solve many practical problems, such as traveling salesman problem (TSP) [ 7 1 , quadratic [ 10], and so on. Because an ant system algorithm has the abovementioned advantages, we are going to investigate the possibility o f applying it to the tuning o f PID controller assignment p r o b l e m [ 8 ] , job-shop discrete optimization problem scheduling problem[91,

Introduction
Up to n o w , the proportional-integral-derivative ( P I D )

controller has been widely used to control industrial plants and processes because o f its simple structure and robust performance in a wide range o f operating conditions. The performance o f a PID controller, however, fully depends on the tuning o f its parameters. To address this problem, Ziegler and Nichols proposed the first tuning method o f PID controller parameters, which is known as Ziegler-Nichols tuning formula [ 11. But the drawback o f this method is that the system's transient response has a greater overshoot. Aiming at this drawback, Hang et al proposed the P,.ZN method, i . e . , refinements o f the method is not Ziegler-Nichols tuning formula[2]. Although the greater overshoot can be overcome the R Z N suitable for the devices with a greater phase-lag. Astrom and Hagglund proposed two tuning methods for PID controller parameters, which can ensure that a considered system has a given phase m a r g i n [ 3 , 4 ] . The control effects o f the two methods, however, are not satisfactory because a linear empirical formula has to be introduced to make up for the lack o f tuning conditions. Generally speaking, the tuning method based on a given phase margin cannot necessarily

Received 21 April 2003; Revised14 May 2004. This work was supportedby the NationalNatural ScienceFoundationof China (No.50275150) and the Foundationof RoboticsLaboratory,Chinese Academy of Sciences(No. RL200002).

G. TAN et a l . / Journal of Control Theory and Applications 3 (2004) 246 - 252

247

parameters. And if this application is feasible, we will try to find out whether the performance of the PID controller designed by use of our improved ant system algorithm is better than that of the PID controllers designed by use of some existing parameter tuning methods, such as the Ziegler-Nichols method ( Z N ) , the genetic algorithm ( G A ) , and the simulated annealing (SA). So our purpose is to find a new, effective, and intelligent method for the design of PID controller. The remainder of this paper is organized as follows. In Section 2, we present the principle of determining PID controller algorithm. procedure report the parameters using our improved ant system In Section 3, we propose the optimization for PID controller parameters. In Section 4, we simulation results about the proposed ASA-PID

2.1

PID formula with incomplete derivation

In general, introducing derivation control can improve the dynamic behavior of a control system, but the system output is very sensitive to disturbances in this case. To overcome this drawback, a first-order inertia term can be added to the PID formula, which is a low-pass filter and its transfer function is Gf(s) = 1/(1 + Tfs), where Tf is a time constant. The derivation control with the first-order inertia term is called the incomplete derivation control. Because the PID controller with incomplete derivation has better control performance, we decided to adopt it in our research. The transfer function of the PID controller with incomplete derivation is expressed as:
U(s) = (Kp +

Kp Tas ) Tis + 1 + Tfs ) E ( s )

(1)

Kp

controller which is used to control three different typical transfer functions, and compare the performance of the ASA-PID controller with that of the ZN-PID controller, the GA-PID controller, and the SA-PID controller. In the last section, we give the conclusion of our research.

= Up(s) + Ui(s) + Ud(s),

where Kp is the proportional gain; T i is the integral time constant; Ta is the derivative time constant; E ( s ) is the system error (difference between the reference input and the system output) ; and U( s ) is the control signal. In the discrete-time domain, the above formula can be expressed
as_-

Principle of determining PID controller parameters using ant system algorithm

u ( k ) = % ( k ) + ui(k) + ~d(k) k The ant system algorithm was first used to solve the = Kpe(k) + K i ~ e ( j ) + ud(k), (2) TSP [ 6 ]. Considering the difference between the tuning of j=0 PID controller parameters and the TSP, in our research we where K i = KpT/T i and Tis the sampling period, t q ( k ) modified the ant system algorithm presented in [6] and can be derived as follows. Because established the improved ant system algorithm used for the K v Td s ~(s) _ ~(s). (3) tuning of PID controller parameters. Compared with the 1 + Tfs algorithm given in [ 6 ] , the improved algorithm has the Transfer (3) into the following differential equation: following different characteristics: 1) The optimal traveling dud(t) de(t) (4) path of the ants obtained by use of the improved algorithm ud(t) + Tf dt - KpTj dt is not necessarily the shortest and closed but it must make In the discrete-time domain, formula (4) can be written the control system have the optimal performance indexes; as: 2) Instead of laying the pheromone substance on the path ud(k) = ~d(1 - a ) U e ( k ) - e(1, - 1)1 + auj(k - l) connecting two adjacent knots (in the improved algorithm, k the term "town" in the TSP is replaced by " k n o t " ) , each = Ka(1 - 2 ) ~ X k-j 9 Ae(j) + 2kud(0), (5) j=l ant lays its pheromone substance only at knots it passes where ), = Tf/( Tf + T) < 1, ua(0) is the initial value o f through; 3) The intensity of pheromone substance at each ud(k), and Kd = KpTa/T. Substituting (5) into ( 2 ) , knot is updated according to the defined objective function rather than the tour length Lk of every ant k, the objective we obtain k k fimction includes the information of the knots which these / z ( k ) = gpe( k ) -t- gi ~,.~_ d e(j) +Kd(1-A ) ~ ak-J'Ae(j) j=0 j=l ants pass through, and the information of current + 2~ud(0). (6) performance indexes of the control system. The following is Although the algorithm of the PID control law with the introduction to the principle of determining PID controller parameters using our improved ant system incomplete derivation is more complicated than that o f the conventional PID control law, it is used more and more algorithm.

248 widely in recent

G. TAN et a l . / Journal of Control Theory and Applications 3 (2004) 246 - 252

years because o f its good control numbers 0 - 9, which are ten possible values o f the digit corresponding to the line. O n plane O-XY there are 15 x 10 knots in total. W e use symbol Knot ( x i , Y i , j ) to denote a knot, in which xi is the horizontal coordinate o f line L i ( i = 1 - 15, xi = 1 - 15) and Yi,j is the vertical coordinate o f k n o t j on line L i ( j = 0 - 9 ) . Each knot represents a value that is equal to the vertical coordinate o f the knot. For example, Knot ( 5 , 8 ) indicates that the value o f the fifth digit o f Kp, i . e . , the value o f the third digit o f Kp after decimal point, is equal to 8. Let an ant depart from the origin o f plane O-XY. W h e n it moves to any knot on line L15, it completes one tour. Its moving route is expressed by Path = I O, K n o t ( x l , Y l , j ) , Knot(x2, Yz,j) , " ' , K n o t ( x l s , Yls,j) t , where K n o t ( x i ,

performance and robust performance.

2.2

Generation of knots and paths

Take PID controller paranaeters Kp, T i , and Ta as the optimized variables, and assume that the value o f each o f them has five valid digits. According to the ranges o f their values in many practical applications, we assume that in the five digits o f Kp' s value there are two digits before decimal point and three digits after decimal point; in the five digits o f Ti and Td there is one digit before decimal point and four digits after decimal point. Because in an ant system algorithm, the paths, from which every ant can choose one for moving, are fixed and limited in number, the solution of the algorithin can be only expressed in a discrete solution domain. So, an ant system algorithm cannot be directly used to solve the optimal problem o f a linear or nonlinear progranaming whose solution needs to be expressed in a continuous solution domain. In order to employ this kind o f algorithm in the tuning o f PID controller parameters, whose solution belongs to the continuous solution domain, we had to devise a method to express this problem in the discrete solution domain. Considering the characteristic o f a grid chart, we thought it was suitable to this problem and decided to figure Kp, Ti, and T d on plane O-XY in the form o f a grid chart. The method is drawing fifteen lines

Yi,j) is on hne L i. Obviously,the values o f K p , Ti, and Td

represented by this route can be computed by the following formulas:
"Kp
=

YI,j X 101 + YZ,j X 10~ + Y3,j 10-J

+ Y4,j x 10 -2 + Ys,j x 10 -3 , Ti = Y6,j 10~ + Y7,j x 10 -t + Y8,j x 10 -2 + Y9,j x 10 -3 + Ylo,j x 10 -4 ,

Td = Yll,j X 10~ + Yl2,j X 10 -l + YI3,j X 10 -2

+ Yl4,j X 10 -3 + Y15,j X 10 -4 .

(7)
For example, a moving path o f an ant is shown in Fig. 1, the values o f K p , Ti, and T d represented by this path are Kp = 64. 378, T i = 5 . 4 2 6 7 , and Td = 3.4254.

LI,L2,'",LIs,
Fig. 1.

which

have

equal

length

and

equal

separation and are perpendicular to axis X, as shown in

2.3
L1 L2 L3 L4 L5 L6 L7 Ls L9 Llo Lll LI2L~3 LjaL15

D e v e l o p m e n t of objeetive function
In order to ensure that a control system has good

9 84

8 7 6 ~, 5 4 3 2

~ /

.,.-

a mo' ,ing jatl

performance, developing the objective function should be based on the performance indexes o f the system. Here, we mainly consider the overshoot a , setting time t~, and steady-state error e,~s o f the system's unit step response. First, three functions f l ,f2, and f3 are constructed by means o f a , t, and ess, which are given as: fl = a/a0, (8) (9)

kno ~

' ....[[ .

1
origin O
1 2

3 4 5 6 7 8 X

9 10 II 12 13 14 15

f2 = ts/&O,
e~s/e~o, f3 = [ 0 ,

Fig. 1 Diagramfor generating knots and paths. In this figure, L1 - Ls,L6 - LI0, and L11 - L15 represent the first digit to the fifth digit o f Kp, Ti, and Td, respectively. The positions o f these lines on axis X are represented by numbers 1 - 15 respectively. Then, we divide equally each o f these lines into nine segments and thus ten knots are generated on each line, as shown in Fig. 1. The ten knots o f each line represent respectively ten

ifesso # 0, if e~s0 = 0.

(10)

The objective function F is designed as:

F = ),,fl + ~.tf2 + )'%f3,

(11)

where (Cro, t~0, and ess0 are the values o f performance indexes o f the system obtained using Ziegler-Nichols taming formula[ 1 , 2 ] ; Ao, )its, and 2% are weighting coefficients. According to our experience, 2 o , a t , and 2% are set to

G. TAN et a!./ Journal of Control Theory and Applications 3 (2004) 246- 252
0 . 6 , 0 . 2 , and 0 . 2 , respectively. The constraints on or, ts, and e,s are specified as:
0" < ~70,

249

the fifteen knots which are obtained by mapping the values of PID controller parameters K p , Ti , and T~ onto Fig. 1, where Kp , T i , and T~ are the PID controller

ts < ts0,
'ess < ess0.

(12)

parameters corresponding to the optimal traveling route generated in the previous cycle by the ants. In formula ( 1 3 ) , the parameters a and /3 represent respectively the relative importance of the intensity of pheromone substance and visibility in transition probability

2.4

Selection of knots and routes Assume that from any knot on line Li to any knot on the next line Li+ 1 , an ant has the same amount of moving
time, that is, the moving time is not relevant to the distance

Pk ( xi, Yi,j, t ) , and they are set to 3.

2 . 5 U p d a t i n g of pheromone substance Assume that at time t = 0, all of the ants are at the origin of plane O-XY, then they will arrive at their respective temfinal knots on line Ll5 after fifteen time units. At this moment, the intensity of pheromone substance of each knot on plane O-XY is updated by the following formulas : r ( x i , Y i , j , t + 15) = toV(x i , y i , j , t )

between any two knots on two adjacent lines. Thus, if all ants depart from the origin of plane O-XY at the same time,they will arrive at each line Li(i = 1 - 15) at the same time, and finally arrive at terminal line Ll5 at the same time, Till then, they all complete a tour, and the ant system algorithm completes a cycle. Assume that at time t the colony of ants move to line

Li. Let bj(j = 0 ~ 9) be the number of ants at k n o t j of

line Li, then the total number of mats can be expressed as m
o

+ Av(x i,yi,j),

(15)
AZ'(Xi,Yi,j) = ~AZ'k(Xi,Yi,j)
k=l

= Ebj(t),
j=0

Let r ( x i , y i , j , t )

be the intensity of

,
of

(16) pheromone

pheromone substance at Knot (x i , Yi,j) at time t. Assume that at time t = O, all of the knots have the same intensity of pheromone substance, i. e. , v ( xi, Yi,j,O) = c ( c is a small positive constant, i = 1 - 1 5 , j = 0 - 9). In moving process, every ant k ( k = 1 - m) will choose one knot to go from the ten knots of the next line according to the quantity of pheromone substance and visibility of each one of the ten knots. Let Pk ( xi, Yi,j, t) be the transition probability of ant k from any point of line Li-1 to Knot

where A v k ( x i , y i , j )

is

the

quantity

substance laid at Knot ( x i , Yi,j) by the kth ant in the cycle just completed and computed by the following formula:

AZ'k ( Xi, Yi,j) ! if the kth ant passed through Knot ( x i , Yi,j) = ' in the cycle just completed,
otherwise, (17) where Fk is the value of the objective function of ant k in the cycle just completed and computed by formula ( 11 ) ; Q is a positive constant. Because the value of Fk is about 1, Q is set to 0 . 1 .

(xi, Yi,j), it is computed by

Pk ( xi , Yi,j , t ) "Ca( xi, Yi,j, t)~]fl(X i , Yi,j, t)
9

(13)

Optimization procedure for PID controller tmmn~ters

The improved ant system algorithm for finding the

E
j=0

Ta(Xi ' Yi,j, t) ~[3(Xi, Yi,j' t)

where rl( xi, Yi,j, t) is the visibility of Knot ( xi, Yi,j) and defined as: 10 - I Yi,j - Yi~,jl = 10 ,

r](xi,Yi,j,t)
where the values o f y L j ( i

(14)

optimal PID controller parameters Kp , Ti , and T~ can be summarized as follows. Step 1 For a given control system containing a PID controller with incomplete derivation, compute the PID controller parameters Kp 0, Ti 0, and Ta o using the Ziegler-Nichols tuning formula, and then compute the performance indexes a0, ts 0, and ess 0 of the system' s unit step response. Step 2 Define the number of ants m ; For each ant k( k = 1 ~ m) define a one-dimensional array Pathkwith fifteen elements, in which the vertical coordinates of the

= 1 ~ 1 5 , j = 0 - 9) are set

in the following way: In the first cycle of the ant system algorithm, the values of Yi,j

are set to the vertical

coordinates of the fifteen knots which are obtained by mapping the values of PID controller parameters Kp o, Ti 0, and Ta 0, which are obtained by use of the Ziegler-Nichols tuning formula, onto Fig. 1. In each of the following cycles, the values ofy~,j are set to the vertical coordinates of

250 fifteen knots that ant k ~ o f ant k. Step 3

G. TAN et a l . / Journal of Control Theory and Applications 3 (2004) 246 - 252

pass through will be stored in

ASA-PID controller. The transfer functions o f the plants in the three control systems are given as follows:

order. Array Pathk can be used to denote the moving path Set t = 0 ( t is the time counter) and NC =

Case 1

(three-order system) : G, (s) = 6o68

s( s 2 + l l 0 s + 6068)"

(18)

O( NC is the cycles counter) ; Define the maximum number

o f cycles NCmax; For each knot, set an initial value r ( x i ,

Y i 4 , O) = c for the pheromone substance intensity ( i = 1

Case 2

15 , j = 0 - 9) ; Then place the m ants at the origin o f plane O-XY. Step4 Step 5 S e t i = 1. Compute the transition probability of each

(time-delay system) : 2e- sL G 2 ( s ) - 1 + Ts ' L = 1 . 0 , T = 5 . 0 .

(19)

Case 3

(non-minimum phase

system) : (20)

G 3 ( s ) = (1 s )3 ' /~ = 0 . 5 . (1 -+ y s)

knot on hne L i using formula ( 1 3 ) ; According to these probabilities, choose one knot on line Li for each ant k ( k = 1 - m) using the Roulette Wheel Selection method and move ant k to the knot, then save the vertical coordinate o f the knot in the ith element o f Pathk. Step 6 Step 7 Set i = i + 1. I f i ~< 15, go to Step 5; For each ant k ( k = 1 - m ) , a) according to Otherwise, go to Step 7. its moving path, i. e . , the array Pathk, compute the PID controller parameters K k p, T k i, and T k ,t using formula set ( 7 ) ; b) run a computer simulation for the control system
9 using Kk r,, T k i, and T k ,t, the input o f the system is a unit

To verify the performance o f the proposed ASA-PID controller, the three existing PID controllers were adopted for comparison, including the Z N - P I D GA-PID controller, and the SA-PID controller, the controller. The

GA-PID controller and the SA-PID controller were derived from the real-value GA method and the SA method in [11]. For each o f the three study cases, we conducted computer simulation experiments by use o f the four PID controllers. The input o f these control systems was a unit step signal, and the parameters o f the improved ant system algorithm were set as NC ..... = 30, p = 0 . 5 , and m = 10.

step signal, and compute the system's performance indexes cr k ,t,,k and e~;k c) compute the objective function Fk using formula ( 11 ). Thereafter, find the optimal moving path of this cycle which is corresponding to the minimum value of the objective function ( i . e . , minkF~, k = 1 , 2 , - " , m) and satisfies the constraints given by ( 1 2 ) , and then save the values o f the PID controller parameters corresponding to the path in Kp , Ti , and T2 . Step 8 Set t *-- t + 15 and NC * - NC + 1 ; Update the
Fig. 2 1.6 1.2 0.8 ~ 0.4
0

' : 1.6 1 ' ' 1.2 - - - ~ . . . . q. . . . . 0.8 . . . . . - .....

' . . .I ~ " _ _3". . .F ~ , ; , , '~

~
t/s

0.4

0.5

pheromone substance intensity o f each knot in Fig. 1 according to formulas ( 1 5 ) Pathk to zero, k = 1 - m. Step 9 If NC < NCmax and all o f the m ants do not make the same tour, place all the ants at the origin o f plane
O-XY and go to Step 4; If NC < NCmax but all o f the m

The unit step responses of Case 1.

(17);

Set each dement o f

ants make the same tour, or NC = NC . . . . . parameters Kp and Td , then stop.

output the

optimal moving path and its corresponding PID controller

, Ti ,

Computer sinmJ_ation examples and results

Three typical control systems were chosen to
test and

I 0

6
t/s

10

12

evaluate the adaptation and robustness o f the proposed

Fig. 3

The unit Step responses of Case 2.

G. TAN et al. / Journal of Control Theory and Applications 3 (2004) 2 4 6 - 252

251

1.6 1.2
0.8

Table 3
PID controllers ZN-PID GA-PID SA-PID ASA-PID 3 2 10 2 4 6 t/s 8 12

Summary of simulation results for Case 3.

Kp 1.5505 1.2445 1.2344 1.2036 Ti 3.3430 2.7037 2.7035 2.7411 Td 0.8023 0.9958 0.9900 0.9982 a 18.11% 6.48% 6.19% 4.04% t s/s 11.315 5.7277 5.7594 5.4615 e~ 0 0 0 0

0.4
x

Conclusions

Fig. 4

The unit step responses of Case 3.

The computer simulation results of Case 1 are shown in Table 1 and Fig. 2. The computer simulation results of Case 2 are shown in Table 2 and Fig.3. The computer simulation results of Case 3 are shown in Table 3 and Fig. 4. From Table 1 - 3, we can find that for each of the three study cases, the performance of the proposed ASA-PID controller is much better than that of the ZN-PID controller and better than that of the GA-PID controller. Here, the performance indexes are mainly the overshoot and settling time t s (the allowed error A ~<2 % ), since the steady-state error is equal to zero for each of these cases. For Case 1 and Case 2, the performance of the proposed ASA-PID controller is quite similar to that of the SA-PID controller, that is, the two PID controllers have almost the same performance. For Case 3, the performance of the proposed ASA-PID controller is better than that of the SA-PID controller. Table 1 Smamaary of simulation results for Case 1.
PID controller ZN-PID GA-PID SA-PID ASA-PID
Kp Ti Td a ts/s e~

This paper presents a new and intelligent design method for determirfing the parameters of the PID controller with incomplete derivation using our improved ant system algorithm. From the results of computer simulation experiments, we can conclude that: 1 ) the improved ant system algorithm is effective in searching for the optimal PID controller parameters; 2) the proposed ASA-PID controller has much better or better control performance compared with the ZN-PID controller and the GA-PID controller, and comparable control performance compared with the SA-PID controller; 3) the proposed ASA-PID controller can be used to control many kinds of plants and
processes. H e r e , it n e e d s to b e p o i n t e d o u t t h a t t h e P I D c o n t r o l l e r parameters obtained b y use o f t h e i m p r o v e d ant system a l g o r i t h m s h o u l d b e r e g a r d e d as t h e o p t i m a l p a r a m e t e r s j u s t i n t h e sense o f p r o b a b i l i t y , b e c a u s e i n n a t u r e this a l g o r i t h m is also a h e u r i s t i c a n d stochastic o p t i m i z a t i o n m e t h o d .

References
[ 1] J . G . Ziegler, N. B. Nichols. Optimum setting for automatic controllers [J]. ASME Trans., 1942,64(8):759-768. [2] C . C . Hang, K. J. Astrom, W. K. Ho. Refinements of the ZieglerNichols tuning formula [J]. lEE Proc. of Control Theory Application, Series D, 1991,138(2) : 111 - 118. [3 ] K.J. Astrom, T. Hagglund. Automatic tuning of smaple regulators with specifications on phase and amphtude margins [J]. Automatica, 1984, 20(5) : 645 - 651. [4] T. Hagglund, K.J. Astrom. Industrial adaptive controllers based on fiequency response techniques [J]. Automatica, 1991,27(4) :597 - 609. [5] W . H o , C , C . H a n g , L . S . C a o . Tuning of PID controllers based on gain and phase margin in specifica6ons [J]. Automaticn, 1995,31(5) :497 502. [6] M. Dorigo, V. Maniezzo, A. Colomi. Ant system: optimization by a colony of cooperating ~gents [J]. IEEE Trans. on Systems, Man, and Cybernetics, 1996,26(1) :29 - 41. [ 7 ] M. Dorigo, L. M. Gambardelh. Ant colony system: a cooperative learning approach to the traveling salesman problem [ J ]. IEEE Trans. on Evolutionary Computation, 1997,1 ( 1 ) : 53 - 66. [ 8 ] V. Maniezzo, A. Colorni. The ant system applied to the quadratic assignment problem [J]. IEEE Trans. on Knowledge and Data Engineering, 1999,11 (5) : 769 - 778. [9] A. Colomi, M. Dotigo, V. Maniezzo, et al. Ant system for job-shop scheduling [ J ] . Belgian J. Operation Research Statistic Computing

33.104 25.765 24.452 15.380

0.3018 1.7595

0.0724 0.0272

17.21% 5.23 % 3.37 % 2.04%

0.3052 0. 2065 0. 1772 0.1802

0 0 0 0

1. 2499 0.0276 2.0336 0.0135

Table 2
PID controller ZN-PID GA-P1D SA-PID ASA-PID

Sunmaary of simulation results for Case 2.

gp Ti Td a ts/s es~

2.1215 1.8561 1.8468 1.2225

2.6245 7.5115 7.7466 6.0186

0.6299 0.5259 0.6196 0.3199

52.69% 11.98% 7.19% 5.65%

8.3684 7.7267 6.4597 7.5091

0 0 0 0

252

G. TAN et a l . / Journal o f Control Theory and Applications 3 ( 2 0 0 4 ) 246 - 252

Q i n g d o n g Z E N G was born in October, 1974. He is currently a Ph. D. Candidate of the School of Information Science and Engineering, Central South University. His research interests are artificial intelligence, robotics, advanced control theories and algorithms.

Science, 1994,34( 1 ) : 34 - 53.

[ 10~ M. Dorigo, G. D. Cam, L. M. GambardeUa. Ant algorithms for discrete optimization [J]. Artificial Life, 1999,5(2): 137 - 172. D. P. Kwok, S. Fang. Genetic algorithm and simulated annealing for optimal robot arm PID control [ C ] / / Proc. of the 1st IEEE Cortf . on Evolutionary Computation, Part 2 ( of 2 ) , Piscataway, NJ : IEEE Press. July 27-July 29,1994:707 - 712. G u a n z h e n g TAN was born in October, 1962. He received the Ph. D. de~ee from Nanjing University of Aeronautics and Astronautics, in 1992. He is currently a professor of the School of Information Science and Engineering, Central South University. His research interests are artificial intelligence, congnitive systerm, robotics, advanced control theories and algorittmls. E-mail: tgz @ nmil. csu. edu. cn.

[113

W e n b i n L I was born in September, 1979. He

received the Master degree from the School of Information Science and Engineering, Central South University in April, 2004. Since 2004, he has been with ZTE Corporation, Shenzhen. His research interests are artificial intelligence, robotics, advanced control theories and algorithms.