Optimal PID tuning based on Krill Herd optimization algorithm

PID (proportional integral derivative) control is one of the most popular control strategies. However the optimal PID parameters are difficult to obtain and is highly sensitive to the initial guess. This paper is about tuning PID controllers, to meet the desired response. For this goal, three cost functions have been defined resembling the plant error over the time and the Krill Herd optimization algorithm was used to obtain the optimal solution to cost functions by searching the PID parameter space for global minimum and thus tuning the controller effectively. The details of applying the proposed method are given and the numerical results show the proposed strategy is effective.