Data-Driven PID Tuning for Liquid Slosh-Free Motion Using Memory-Based SPSA Algorithm

  • Nik Mohd Zaitul Akmal Mustapha
  • Mohd Zaidi Mohd Tumari
  • Mohd Helmi Suid
  • Raja Mohd Taufika Raja Ismail
  • Mohd Ashraf AhmadEmail author
Conference paper
Part of the Lecture Notes in Electrical Engineering book series (LNEE, volume 538)


This study proposes a data-driven PID tuning for liquid slosh suppression based on enhanced stochastic approximation. In particular, a new version of Simultaneous Perturbation Stochastic Approximation (SPSA) based on memory type function is introduced. This memory-based SPSA (M-SPSA) algorithm has the capability to obtain a better optimization accuracy than the conventional SPSA since it is able to keep the best design parameter during the tuning process. The effectiveness of this algorithm is tested to data-drive PID tuning for liquid slosh problem. The achievement of the M-SPSA based algorithm is assessed in terms of trajectory tracking of trolley position, slosh angle reduction and also computation time. The outcome of this study shows that the PID-tuned M-SPSA is able to provide better control performance accuracy than the other variant of SPSA based method.


Data-driven control PID controller Stochastic approximation 



The study was funded by Research Grant RDU170104 from the University of Malaysia Pahang under Research and Innovation Department, and Ministry of Higher Education with reference no. JPT.S (BPKI) 2000/09/01 Jld.25 (29).


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Copyright information

© Springer Nature Singapore Pte Ltd. 2019

Authors and Affiliations

  • Nik Mohd Zaitul Akmal Mustapha
    • 1
  • Mohd Zaidi Mohd Tumari
    • 2
  • Mohd Helmi Suid
    • 1
  • Raja Mohd Taufika Raja Ismail
    • 1
  • Mohd Ashraf Ahmad
    • 1
    Email author
  1. 1.Faculty of Electrical and Electronics EngineeringUniversiti Malaysia PahangPekanMalaysia
  2. 2.Faculty of Engineering TechnologyUniversiti Teknikal Malaysia MelakaDurian TunggalMalaysia

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