Design of Robust Mixed H2/H(infinite) PID Controller Using Particle Swarm Optimization

An approach is proposed to tune the parameters of a mixed H2/H∞ PID controller via particle swarm optimization. The main target is to find a suitable controller that minimizes the performance index of error signal under the robust stability and robust performance conditions. Different types of performance indexes are used to have optimal PID controller such as IAE, ISE, and ITAE. In this paper, all the three indexes are used to estimate the performance of the mixed H2/H∞ PID controller using PSO under the uncertainty and disturbance. The results show that the ISE was the best to use with disturbance condition to get robustness.By testing two different control systems with the typical characteristics such as time delays and system with RHS pole and zero, the proposed algorithm has been demonstrated to have good results with parameters uncertainty and disturbances.