Minimum settling time control design through direct search optimization

The aim of this very brief third version is to present succinctly, but clearly with two animations, two optimization results from the second version of the paper available on http://arxiv.org/abs/1109.5966v2 which can still be consulted for more details. A future and much improved version of the paper will be deposited on arXiv at the beginning of 2012. The objective considered here is to optimize PID coefficients x = [K p , K i , K d ] to minimize the following objective function: f (x) = the rise time (= time needed for the response z(x, t) to reach 0.98) divided by 100 (the fixed maximum time value for which the response is evaluated) + the maximum deviation of z(x, t) (out of the following settling range: z max (t) = 1.02 for t > 0 and z min (t) = 0.98 for t > rise time).