Optimal 2DOF-PID Controller Design Using Whale Optimization Algorithm
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Abstract
The proportional-integral-derivative (PID) controller was first introduced in 1922. It has been widely accepted in industry for almost a century, because it can improve transient and steady-state responses as well as easily implementation. However, PID controllers tend by nature to excel in one aspect of system performance due to its trade-off. When the PID controller is designed to achieve input tracking, the load regulation performance of the system is then reduced, and vice versa. This problem can be solved by using a two degree-of-freedom PID (2DOF-PID) controller. This paper presents the design of the optimal 2DOF-PID controller by using the whale optimization algorithm (WOA), one of the most efficient metaheuristic optimization techniques for the time-delayed systems having slow responses and the servo systems possessing fast responses. Results obtained by the 2DOF-PID designed by the WOA will be compared with those obtained by the 1DOF-PID controller. From the simulation results, it was found that the 2DOF-PID controller designed by the WOA algorithm can effectively control the time-delayed system and the servo system. A maximum reduction in the IAE has been achieved, with 19.22% for the time-delay system and 17.14% for the servo system. Consequently, faster and smoother tracking and load regulation responses have been satisfactorily obtained once compared to those of the 1DOF-PID controller.
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