A new PID tuning technique using ant algorithm

Huseyin Atakan Varol, Zafer Bingul

Research output: Contribution to journalConference articlepeer-review

67 Citations (Scopus)


In this paper, ant algorithm (AA) which is a new nature-inspired optimization technique, was used to tune a PID controller. In the tuning process, the following cost functions were employed: i) Integral Absolute Error (IAE), ii) Integral Squared Error (ISE), iii) a new proposed cost function called reference based error with minimum control effort (RBEMCE). The results obtained from ant algorithm PID tuning process were also compared with the results of Ziegler-Nichols (ZN), Internal Model Control (IMC) and Iterative Feedback Tuning (IFT) methods. The PID controllers optimized with ant algorithm and the new proposed cost function gives a performance that is at least as good as that of the PID tuning methods mentioned above. With our method, a faster settling time, less or no overshoot and higher robustness were achieved. Moreover, the new tuning process is successful in the presence of high noise.

Original languageEnglish
Pages (from-to)2154-2159
Number of pages6
JournalProceedings of the American Control Conference
Publication statusPublished - 2004
EventProceedings of the 2004 American Control Conference (AAC) - Boston, MA, United States
Duration: Jun 30 2004Jul 2 2004

ASJC Scopus subject areas

  • Electrical and Electronic Engineering


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