Design of a PID tuner based on generalized-output errors

PID control scheme is widely used in industry and is mounted over 90 percent of method. However, PID gains influence control performance, so it is important to determine PID gains. Traditionally, PID gains are computed based on the description model, however, if the model is not accuracy, PID gains cannot be obtained good performance. PID gains is computed using particle swarm optimization based on the error between system output and generalized output that is defined from PID control law. Finally, the effectiveness of the proposed scheme is numerically examined in some simulation example in comparison to the conventional scheme.