Gravitational Search Algorithm Design of Posicast PID Control Systems

  • P. B. de Moura OliveiraEmail author
  • E. J. Solteiro Pires
  • Paulo Novais
Part of the Advances in Intelligent Systems and Computing book series (AISC, volume 188)


The gravitational search algorithm is proposed to design PID control structures. The controller design is performed considering the objectives of set-point tracking and disturbance rejection, minimizing the integral of the absolute error criterion. A two-degrees-of-freedom control configuration with a feed for-ward prefilter inserted outside the PID feedback loop is used to improve system performance for both design criteria. The prefilter used is a Posicast three-step shaper designed simultaneously with a PID controller. Simulation results are presented which show the merit of the proposed technique.


Particle Swarm Optimization Disturbance Rejection Input Shaper Feedforward Controller Control Configuration 
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Copyright information

© Springer-Verlag Berlin Heidelberg 2013

Authors and Affiliations

  • P. B. de Moura Oliveira
    • 1
    Email author
  • E. J. Solteiro Pires
    • 1
  • Paulo Novais
    • 2
  1. 1.Department of Engineering, School of Sciences and TechnologyINESC TEC - INESC Technology and Science (formerly INESC Porto)Vila RealPortugal
  2. 2.Departamento de InformáticaUniversidade do MinhoBragaPortugal

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