Data-Driven Neuroendocrine-PID Tuning Based on Safe Experimentation Dynamics for Control of TITO Coupled Tank System with Stochastic Input Delay

  • Mohd Riduwan GhazaliEmail author
  • Mohd Ashraf Ahmad
  • Raja Mohd Taufika Raja Ismail
Conference paper
Part of the Communications in Computer and Information Science book series (CCIS, volume 1015)


This paper addresses a data-driven neuroendocrine-PID tuning for control a two-input-two-output (TITO) coupled tank system with stochastic input time delay based on safe experimentation dynamics (SED). The SED algorithm is an optimization method used as data-driven tools to find the optimal control parameters by using the input-output (I/O) data measurement in an actual system. The advantages of the SED algorithm are that provides a fast solution, able to solve the high dimensional problem and provides high-performance accuracy by keeping the best parameter value while finding the control parameters. Moreover, the gain sequences of the SED algorithm is independent of the number of iterations by fixed the interval size in finding the optimal solution. Hence, this allows the SED method to have enough strength to re-tune in the attempted of finding the new optimal solution when the delay occurs during the tuning process. Apart from that, a neuroendocrine-PID controller structure is chosen due to its provide effective and accurate control performances by a combination of PID and neuroendocrine structures. On another note, the neuroendocrine structure is a biologically inspired designed that derived from general secretion rules of the hormone in the human body. In order to evaluate the performances of the data-driven neuroendocrine-PID control based on SED, it is applied to a numerical example of TITO coupled tank plant and the control performance tracking and the computational time are observed. The simulation results show that the data-driven neuroendocrine-PID control based on SED capable to track the desired value of liquid tanks level although the stochastic input delay occurred in the system. In addition, the SED based method also attained good control performance without any theoretical assumptions about plant modelling.


TITO Neuroendocrine-PID Coupled tank SED Stochastic delay 



This study was partly supported by the Ministry of Higher Education, Government of Malaysia through the Fundamental Research Grant Scheme (FRGS) (RDU 160146) and Universiti Malaysia Pahang.


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Copyright information

© Springer Nature Singapore Pte Ltd. 2019

Authors and Affiliations

  • Mohd Riduwan Ghazali
    • 1
    Email author
  • Mohd Ashraf Ahmad
    • 1
  • Raja Mohd Taufika Raja Ismail
    • 1
  1. 1.Instrumentation and Control Engineering (ICE) Research Cluster, Faculty of Electrical and Electronics EngineeringUniversiti Malaysia PahangPekanMalaysia

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