A Cascade PID Controller Design with Cuckoo Optimization Algorithm (COA) and Input Shaping (IS)

Abstract

From past to present, Proportional-Integral-Derivative (PID) controllers stand out as the most widely used types of controllers. Due to the high-performance requirements, experimentally determined controller coefficients necessitate the application of modern optimization techniques. In this study, Ziegler-Nichols, Chien-Hrones-Reswick, and Cohen-Coon methods, which allow parameter calculation through the open-loop system's step response method, were compared with the Cuckoo Optimization Algorithm for PID controllers designed for a brush-commutated DC motor with unknown parameters in the Matlab environment. The comparison was based on Integral of Absolute Error (IAE), Integral of Square Error (ISE), Integral of Time-weighted Absolute Error criterion. Similarly, the performance of the Cuckoo Algorithm was discussed in terms of stability margins and stability peaks. In this comparison, it was observed that the PID controller optimized with the Cuckoo Algorithm operated with high proportional and integral coefficients to minimize the cost function, resulting in overshoot in the system response. Input shaping, a commonly used method in open-loop control of both brushed and brushless DC motor systems, was integrated into the system to mitigate this overshoot. The hybrid controller achieved the best performance in terms of IAE, ISE and ITAE in the system response, with less overshoot compared to the other mentioned methods.