Application of Ant Colony Algorithm in the Design of Self-tuning PID Controller

A new design approach for self-tuning PID controller with parameter optimization is proposed in this paper.A simple algorithm is derived to solve the Diophantine equations,and a suitable user-specified parameter of controller can be optimized by using ant colony optimization(ACO) algorithm.The PID parameters can be updated on line via the recursive least squares(RLS) algorithm.It was observed that the proposed method has more flexibility and optimal performance can be obtained under special criteria.The effectiveness and feasibility of the proposed method are verified through MATLAB simulation results.