How can I tune PID controller using GENETIC ALGORITHM.......????

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3 个投票

num=6;
den=[48 44 12 1];
gp=tf(num,den);     % PLANT TRANSFER FUNCTION
%%OVERALL TRANSFER FUNCTION
gpgcr=gp*gcr;
sysy4=feedback(gpgcr,1);
%%BY GENETIC ALGORITHM
N=5;               % NO OF POPULATION
M=4;
iter=12;           % no.of iterations
maxiter=1;
%%initialization of pbest and gbest
for i=1:N
        for j=1:iter
            for k=1:M
                pbest(i,j,k)=rand;
                gbest(i,j,k)=rand;
            end
        end
end
   %%initialization of kp,kd,ki and calculation of ISE
      for i=1:N
          for j=1:iter
              for k=1:M
               kp(i,j,k)=rand;
               kd(i,j,k)=rand;
               ki(i,j,k)=rand;
    %%controller transfer function
                  numgc=[kd(i,j,k),kp(i,j,k),ki(i,j,k)];
                  dengc=[1,0];
                  gc=tf(numgc,dengc);            % controller T.F
                  g=gp*gc;
                  GCL=feedback(g,1);             % gives c(s)/r(s)
                  [num,den] = tfdata(GCL,'v');   % 'V' return the numerator and denominator directly as 
                                                  ......row vectors rather than as cell arrays
                  GCL1=1-GCL;                    % GIVES e(s)/r(s)
                  [nume,dene]=tfdata(GCL1,'v');
                  dene1=[dene,0];                % for e(s)
                  [r,p,k1]=residue(nume,dene1);     
                  n=length(p);
                  for y=1:n
                          h(y)=ilaplace(r(y)/(s-p(y)));
                  end
                  h;
                  q=0;
                  for z=1:n
                          q=h(1,z)+q;     %  gives e(t)
                  end
                  q;                
                  q=vpa(q,5);             % Variable-precision arithmetic
                  qsq=q^2;
                  lqsq=laplace(qsq);    % to get laplace transform
                  isee=limit(lqsq,s,0);
                  ise=vpa(isee,5);
                  x(i,j,k)=ise     %CAN WE TAKE IT AS FITTNESS FUNCTION..??   
               end
          end
      end