Multiobjective Optimization of PID Controller of PMSM

Algorithm 2

Fast_nondominated_sort function.

for p in Pop(n):

   p_dom_q = [NULL]

    np = 0

    for q in Pop(n)

       if p > q

       p_dom_q.add(q) % dominate set

       else if p ≤ q

       np = np + 1    % dominated by , increment the counter

       end if

    end for

    if  np = 0       % the first rank of Pareto

      p_rank = 1

    end if

    F1.add(p)

end for

F.add(F1)

while F[i]

  Q = Null

  for p in F[i]

   for q in p_dom_q

        if  nq = 0     % dominated by other individual

         q_rank = i + 1

         Q.add(q)

        end if

   end for

  end for

  F.add(Q)