Title: A comparison among conventional and unconventional proposed PID control structures

Authors: Mohamed Jasim Mohamed

Addresses: Department of Control and Systems Engineering, University of Technology, Iraq, Baghdad, 19006, Iraq

Abstract: In this paper, different proportional-integral-derivative (PID) control structures were proposed and derived mathematically from the equation of the conventional PID control structure. Some of these PID control structures are rarely used in the literature, but the rest of them are not mentioned. The purpose of this paper is to explore and examine the usefulness of these unconventional PID control structures by comparing them with the conventional PID control structure. Initially, simple and well-known control objectives are used in comparisons like integral time absolute error (ITAE) and integral time square error (ITSE). So, these different PID control structures are used in four different examples. The particle swarm optimisation (PSO) algorithm is used to find the optimal values of the parameters for each control structure. From these comparisons, the results show that other unconventional PID control structures outperform the conventional PID control structure and the choice of the conventional PID control structures is not always the best.

Keywords: linear systems; PSO; particle swarm optimisation; PID controller structure; time domain performance index; windup techniques.

DOI: 10.1504/IJAAC.2025.144716

International Journal of Automation and Control, 2025 Vol.19 No.2, pp.236 - 264

Received: 11 Jan 2024
Accepted: 17 Mar 2024
Published online: 28 Feb 2025 *

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