A Comparison Between Adaptive PID Controller and PID Controller with Derivative Path Filter Based on Bacterial Foraging Optimization Algorithm

摘要

In this paper, design of conventional PID controller along with PID controller with derivative path filter both optimized by Bacterial Foraging Optimization Algorithm, for one unstable system and one stable system, is discussed. This algorithm is fairly new stochastic optimization algorithm and has found its way in quite some research works recently proving its effectiveness. Here the unstable system is L-Stage Inverted Pendulum system which is essentially a nonlinear system and its linearized transfer function with angular position of rod as output is only considered. On the other hand a series RLC plant is taken as a stable system. Both plants are included to show the effectiveness of this scheme. The controllers designed by this scheme are quantitatively analyzed and compared with each other and the later clearly shows significant improvements in different performance indices. Relevant Matlab/Simulink simulation results showing this are included in support of this scheme.