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Applied Computational Intelligence and Soft Computing
Volume 2012 (2012), Article ID 329389, 10 pages
Research Article

I-PD Controller Tuning for Unstable System Using Bacterial Foraging Algorithm: A Study Based on Various Error Criterion

1Department of Electronics and Instrumentation Engineering, St Joseph's College of Engineering, Chennai 600 119, India
2Division of Avionics, Department of Aerospace Engineering, MIT Campus, Anna University, Chennai 600 044, India

Received 31 May 2011; Revised 21 August 2011; Accepted 2 October 2011

Academic Editor: Sebastian Ventura

Copyright © 2012 V. Rajinikanth and K. Latha. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.


This paper proposes a novel method to tune the I-PD controller structure for the time-delayed unstable process (TDUP) using Bacterial Foraging Optimization (BFO) algorithm. The tuning process is focussed to search the optimal controller parameters ( 𝐾 𝑝 , 𝐾 𝑖 , 𝐾 𝑑 ) by minimising the multiple objective performance criterion. A comparative study on various cost functions like Integral of Squared Error (ISE), Integral of Absolute Error (IAE), Integral of Time-weighted Squared Error (ITSE), and Integral of Time weighted Absolute Error (ITAE) have been attempted for a class of TDUP. A simulation study for BFO-based I-PD tuning has been done to validate the performance of the proposed method. The results show that the tuning approach is a model independent approach and provides enhanced performance for the setpoint tracking with improved time domain specifications.