Abstract
In this study Proportional-Integral-Derivative (PID) control of brushed DC Motor is analyzed. The parameters of the PID controller are tuned with two different approaches, namely Ziegler-Nichols (ZN) and Particle Swarm Optimization (PSO). The system is tested under sinusoidal disturbance of varying frequencies in order to evaluate and compare disturbance rejection performances. It is shown that PSO approach has clearly higher performance compared with ZN approach for all disturbance frequencies. Simulations are done using Python programming language with trapezoid rule for differentiation and integration. Results are given in both figures and tables. Comments are done on results and future study is planned.
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