Optimal PID Controller designs for stability robustness and disturbance rejection using multi-start clustering global optimization technique

Abstract

This paper proposes design methodologies for the optimal PID controller for stability robustness and disturbance rejection, posing the controller design problem as optimization problem and, then, solving it using improved multi-start clustering global optimization algorithm. The performance index to be minimized is the -norm of the tracking error and constraints are the frequency domain performances of stability robustness or disturbance rejection. The problem boils down to the minimization of performance index under the inequality constraint of norm of closed loop transfer function. The multi-start clustering global algorithm is used to solve the constrained optimization problem. Two design examples have been worked out and the performances are compared with the reported results.