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Intelligent Control Strategies for Tuning PID of Speed Control of DC Motor - A

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 Intelligent Control Strategies for Tuning PID of
Speed Control of DC Motor - A Review
Hendril Satrian Purnama Tole Sutikno Srinivasan Alavandar Arsyad Cahya Subrata
Dept. of Electrical Engg., Dept. of Electrical Engg., Centre for R. and D., Dept. of Electrical Engg.,
Universitas Ahmad Dahlan Universitas Ahmad Dahlan Agni College of Technology Universitas Ahmad Dahlan
Yogyakarta, Indonesia Yogyakarta, Indonesia Tamil Nadu, India Yogyakarta, Indonesia
lfriyan220@gmail.com tole@ee.uad.ac.id seenu.phd@gmail.com arsyadcahya@gmail.com

Abstract— DC motor are commonly used in industrial

application, because of that advantages over other types
of motors. Some applications of DC motor require more
advanced control strategies of speed and position. The
classic PID controller has been taking the majority of the
control system worldwide. Due to its inefficiency in non
linerity handling, some of the soft computing and
artificial intelligent (AI) techniques were adopted to
solve the uncertainties/nonlinearities existing in the
system. In this paper, the several AI techniques were
compared based on their performance for tuning PID of
DC motor speed control. The parameters of PID
controller to be tuned in terms of rise time, settling time,
steady-state error and maximum overshoot. In addition,
the theoretical complexity of the strategies is also Fig. 1. Electric circuit equivalent of PMDCM
compared. In general, this paper presents a brief review
and comparison of intelligent control strategies for have been applied widely in fields of motor drives and power
tuning PID parameters of DC motor speed control based electronics systems [7]. The aim of the AI system is to feed
on early research. the natural and human intelligence into computer science to
think smartly like a human brain [8], [9].
Keywords—DC motor, FLC, GA, PID, PSO, Speed control.
This paper presents a brief review and comparison of
I. INTRODUCTION intelligent control strategies for PID tuning of DC motor
speed control based on the main problem of classic PID
Nowadays, the Direct Current (DC) motor is widely used controller such as rise time, settling time, steady-state error,
in industrial applications. Due to that advantages over other maximum overshoot, and theoretical complexity of the
motors, namely; better characteristics of torque and speed, following strategies.
better response of dynamic changes, high ratio of power to
weight, no need a current excitation, small noise operation, II. PHYSICAL MODEL OF PERMANENT MAGNET DC MOTOR
and also low cost [1], [2]. Moreover, some application of DC
The physical-based model of the permanent magnet DC
motor, such as compact disk, hard disk, robotic manipulators,
motor (PMDCM) electric circuit equivalent is shown in Fig.
home application, etc. requires more advance control of
1. In this paper, the voltage source (Vs) is applied to the
speed and position [3], [4].
motor anchor as the input and the rotational speed (θs)
The conventional method to control the speed of the DC applied as the output. A viscous friction model had been
motor is using Proportional (P), Integral (I) and Derivative assumed such that the friction torque is proportional to the
(D) or well known as PID controller. The PID controller is shaft angular speed. The transfer function model used to
well known as the most common technique which is used in control the speed of the DC motor can be represented by:
many non-linear control systems [5]. However, the PID
controller still has some problems i.e. the undesired
overshoot, slow operation due to the sudden change in load (1)
torque, and the sensitivity to controller gains of the and ∗
parameters. Futhermore, the controller performance still
depends on the accuracy of the model and control system Where the physical parameters of the PMDCM are:
parameters [6]. Due to that problems, some of the soft
computing and artificial intelligent (AI) techniques such as, J = Moment of inertia of the rotor;
Fuzzy Logic Control (FLC), Genetic Algorithm (GA), and b = Motor viscous friction coefficient;
Particle Swarm Optimization (PSO), are the most techniques
that applied to control the speed of DC motors to reduce the Ke = Electromotive force coefficient;
limitation terms in the classic PID controller [5].
Kt = Motor torque coefficient;
Some of AI techniques, e.g. FLC, artificial neural
R = Armature resistance;
network (ANN), GA, PSO and biologically inspired (BI)

978-1-7281-3433-8/19/$31.00 ©2019 IEEE

24
 Fig. 2. General classification of speed control strategies for DC Motor

L = Armature inductance
Based on these physical model, we assumed that the speed of
PMDCM can be determined by using some of the intelligent
control strategies.
III. CLASSIFICATION OF SPEED CONTROL STRATEGIES
FOR DC MOTORS
There are three main classifications of the control method
for controlling the speed of DC motor, namely: (1) Classic Fig. 3. PID controller block diagram
PID Controllers, (2) Modern Controllers, and (3) Intelligent
controllers [1], [10], [11]. The classic PID controller has
taken a majority of the control system worldwide. In the 1 (3)
industrial process nowadays, more than 95% of the control
system is using the PID controller, because of its advantages Where, is the proportional gain, is the integral gain,
over another control method such as; simple controller, clear is the derivative gain, is the integral time constant and
functionality, applicability and easy to use [12], [13]. The is the time constant of a derivative. The "three-term"
modern controllers can divided into two categories i.e. (1) functionality of the PID controller is highlighted by the
Adaptive Controller and (2) Improved Controller. The following rules:
recent techniques being applied for controlling the speed of • The proportional term: providing overall control
DC motor is the intelligent controller. Since classic PID action comparable to the error signal through the all-
controllers face some problems, intelligent controllers have pass reinforcement factor.
attracted the attention of many researchers to apply this
technique to solve the problem and limitation of the PID • The integral term: reduce the steady-state errors in
control systems. Some of the AI techniques that are mostly fixed conditions through low-frequency
applied for controlling the speed of DC motor are FLC [14]– compensation by an integrator.
[18], PSO [19]–[23] and GA [24], [25]. Other techniques • The derivative term: increase transient response
include the combination between them and other artificial through high-frequency compensation by the
intelligence techniques are Fuzzy-Neural Networks, Fuzzy- differentiator.
GA, Fuzzy-Ants Colony, Fuzzy-Swarm, etc. [26]. The
general classification of DC Motor speed control strategies Table 1 is summarized the individual effects of tuning these
is shown in fig. 2. three-terms parameters on the PID controller.

IV. CLASSIC PID CONTROLLER TABLE I. EFFECTS OF INDEPENDENT P, I, D TUNING [13]

Basically, a concept of the PID controller is a simple Closed- Steady

Rise Settling
Loop Overshoot State Stability
three-term controller, that used to increase the stability and Response
Time Time
Error
decrease the steady-state error [13]. With its three-term Increasing
Small
functionality that covering the treatment to both transient Decrease Increase
Increase
Decrease Degrade
and steady-state responses, PID control has offers the most
Increasing
efficient and simplest solution for many control problems. Small
Increase Increase
Large
Degrade
Decrease Decrease
The transfer function of the PID controller is generally
written in the “parallel form” given by Equation (2) or the Increasing
Small Minor
Decrease Decrease Increase
“ideal form” given by Equation (3). Decrease Change

(2)

25
 From table 1. it can be seen that with the increase in the
derivative gain parameter, it will also increase the stability.
However, many engineers find that the derivative gain can
behave against anticipation especially when there is a
transport delay. Since the invention of the PID controller in
1910 and the conventional Ziegler-Nichols (ZN) tuning
method in 1942 [27], with the rapid development of digital
technology, the automatic control science now also offers a
variety of spectrum and the variety choice of many control
schemes. However, more than 90% of the industrial process
still implements the PID controller techniques, especially at
the lowest level application [13]. The diagram block of the
PID controller was shown in fig. 3.
In terms of controlling the speed of DC motor, the
classic PID controller was used to increase stability and
decrease the steady-state error. , , and gain can be
set manually or using ZN tuning methods. The input
variables needed in controlling the speed of DC motor are
voltage, current, and load, while the desired output variable
was speed. The configuration of the system is following the
basic concept of the PID controller, while the system was
used closed-loop configuration.
V. INTELLIGENT CONTROL STRATEGIES FOR TUNING PID
PARAMETERS OF DC MOTOR CONTROL
In this paper, there are three most common intelligent
control strategies were used for tuning PID parameters of
DC motor control discussed, namely: GA, PSO, and FLC.
A. Genetic Algorithm
1) Theory
GA is the search and optimization algorithm based on
the principle of population genetics and natural evolution.
GA is well known as an effective and efficient method to
solve many optimization problems [28]. A basic principle of
GA has been developed by Goldberg and Holland [29]. The
algorithm of GA is started by initializing a population that
contains a number of chromosomes which each
chromosome represents a solution to a problem, then the
chromosome was evaluated by the fitness function.
In general, the GA process consists of four stages,
namely; (1) Initialization, (2) Reproduction, (3) Evaluation
and (4) Selection [30]. Initialization is used to form
individuals that represent the arrangement of chromosomes.
The chromosome represents the solution to the problem to
be solved. Reproduction is done to produce offspring of
parents in the population. At this stage, the genetic operators
used are crossover and mutation. Then the Evaluation stage
is used to calculate the fitness of each chromosome. Greater
fitness becomes a better potential solution. The last stage is
selection to choose individuals from the population set and
offspring is maintained for still alive in the next generation.
To select individuals that are retained, the probability
function is used. Individuals who have greater fitness are
better individuals and have greater opportunities to become
the best solution.
The process will continue until it gets the best
individual. The best individual will be obtained after several
generations. Iteration will end if it has passed a number of
predetermined iterations or if no individual is better than the
26
Fig. 4. The structure of GA.
previous parent. The best chromosome arrangement in an
individual can be converted into the best solution. The
structure of GA is shown in fig. 4.
2) GA based PID tuning for DC motor speed control.
The aim of applying GA in DC motor speed control is to
find the best value of PID parameters to solve some
problems and limitations of the classic PID controller.
According to the kinds of literature, many researchers apply
the GA method for tuning the PID parameter of DC motor
control. Thomas and Poongodi [31] suggested that the PID
with GA has a faster response than the classical PID control
tuning method. The GA techniques are good for giving us
the starting point about the Kp, Ki, and Kd values of the PID
controller. In their work, the implementation of GA based
on the PID controller for DC motor position control is
conducted. El-Deen et al. [32] proposed the GA technique to
determine optimum parameters of the PID control for the
DC motor. The GA used as PID tuning method then
compared to another optimization method, i.e Active Set
Optimization Algorithm (ASOA). Both of the algorithms are
tested by comparing the performance of speed control of the
DC motors. The result showed that the GA-PID was able to
improve overall system performance. Jaiswal and Phandis
[33] presented an optimal PID tuning of speed control of the
DC motor by using the GA method. The GA method
applying to find the optimal solution for DC motor
parameters with a PID controller, the results show that the
GA method is a robust global search method. The design of
the GA method for the PID controller is much better in
solving the problems, such as rise-time, settling-time, and
undesired overshoot then the conventional PID tuning
method. Elsrogy et al. [34] explained that the design of the
PID controller with the GA method applying to find the
optimal solution for DC motor parameters with a PID
controller, the results show that the GA method is a robust
global search method.
B. Particle Swarm
1) Theory
Recently, the PSO method has been successfully used to
solve many complex optimization problems. PSO which
was first introduced by Kennedy and Eberhart [35] is one of
the modern search algorithms, inspired by the behavior of
the organisms, i.e. fish schools and bird flocks [36], [37]. In
general, the PSO method has a simple concept
characteristic, easy to implement, and efficient computation.
In contrast to other heuristic methods, the PSO has a more

Fig. 5. Modification concept of a searching point of PSO
flexible and balanced mechanism to enhance global and
local exploration capabilities [38].
Some interesting features of the PSO algorithm are easy
to implement and also no gradient information needed. We
can use the PSO method to solve a variety of different
optimization problems. As well as evolutionary algorithms,
the PSO techniques search using particle populations,
according to the individuals. Each particle represents a
candidate solution to deal with the problem. In a PSO
system, particles change their position by moving in the
multidimensional search space until the best solution is
found or has exceeded the computational limit. The general
theory and basic concept of PSO algorithm can be found on
reference [35], [37]. The modification concept of a
searching point by PSO is shown in Fig. 5. Where; is
current position, is modified position, is current
velocity, is modified velocity, is velocity based
on Pbest and is the velocity based on Gbest.
2) PSO based PID tuning for DC motor speed control.
In the application of PID tuning for DC motor speed
control, PSO is used to find the optimal value of the ,
and of PID control gain parameters. According to several
kinds of literature, a PSO has become an excellent and
robust technique to solve the main problems of the PID
controller.
Several studies have been conducted in applying the
PSO algorithm for tuning PID parameters of DC motor
speed control [19], [21], [23], [39]–[42]. The aim of this
techniques is to improve the performance of PID controller
to reduces the main problems, such as; the undesired speed
overshoot, the sluggish operation and the sensitivity to
controller gains parameters. El-Gammal and El-Samahy
[19] applied the Multi-objective PSO (MOPSO) for the
design of the PID controller for a separately excited of DC
motor. The main purpose of applying this technique is to
minimize some parameters such as overshoot, rise time,
steady-state errors, and settling time. The simulation results
of the proposed algorithm are showed that the optimized
speed response is obtained by load torque interference and
reference speed is always changed. However, the
performance of the PID controller based on the PSO tuning
strategy is excellent. Kanojiya and Meshram [42] present a
strategy for determining the parameters of the PI controller
which is optimal for the DC motor drive systems using the
27
PSO algorithm. ZN and Modified ZN (MZN) tuning
methods are using to compare the proposed control system.
In the PSO algorithm, the PI controller is used to improve
the performance of speed control on a DC motor. Then the
comparison is conducted based on the main objective
problems that are highlighted such as rise time, settling
time, and maximum overshoot of the result step response.
The proposed method had a super feature, including stable
convergence characteristics that are easy to implement,
excellent computational efficiency, and fast adjustment of
optimal PI controller parameters to produce best-quality
solutions. Based on comparison with conventional ZN and
MZN methods, the proposed method was more efficient and
resilient in increasing the step response of the DC motor
drive system.
Payakkawan et al. [43] presented a PSO-based Dual-line
PID Controller for Speed Control of the DC motors. AI-
based heuristic optimization techniques were proposed. The
PSO strategy was proposed to complete two applications,
i.e. identification of DC motors physics and setting
parameters of the PID controllers. to set the application
parameters for a PID controller, the advantages of
proportional, integral, and derivative are determined both
on-line and off-line settings. Allaoua et al. [21] presented a
method for setting PID parameters of DC motor speed
control using the PSO strategy. The proposed strategy had a
superior feature, such as easy to implementation, stable
convergence characteristics and excellent in terms of
computational performance efficiency. PID-PSO Controller
Schedulingof DC Motor had been modeled by using
MATLAB Simulink. Simulation results showed that the
proposed optimization strategy can perform an efficient
search for optimal PID controllers. Compared to Fuzzy-PSO
controllers, the results show that this method can improve
the system's dynamic performance in a better way. Solihin
et al. [23] presented a paper entitled Tuning of PID
Controller Using PSO strategy, the main purpose of this
study was to design a PID Controller using the PSO
strategy. The DC motor model was used as the object in this
study. PSO was used to set the PID parameter gain (Kp, Ki,
Kd) off-line. The first PSO produced the initial swarm of
particles in the search space represented by the matrix. Each
particle represented a candidate solution for a PID parameter
where the value is set in the range 0 until 100. The results
showed that the tuning of PID parameters using the PSO-
based optimization approach was better than the
conventional tuning method.
C. Fuzzy Logic Control
1) Theory
The FLC algorithm does not require a complicated
mathematical model, but it is based on a knowledge base or
rule base system, so it offers the flexibility and simplicity
that makes it in demand as a PID-based DC motor control
[3], [44]. The input of this algorithm as motor control is
usually Error of the speed (E) and Change of the Error (∆E).
Things that need to be considered in FLC is the membership
functions design process for the input and output, as well as
the design of Fuzzy If-Then rule processes based on
knowledge base [45]. Fig. 6 showing the main process of
fuzzy logic control.
 where x is the output value and D is the duty cycle for PID
tuning.
2) FLC based PID tuning for DC motor speed control.
FLC has become the powerful and most used control
strategy for many control systems including in power
electronics and motor drives. In the application of DC motor
speed control, the FLC approach can be used for tuning PID
parameters and also can be used directly to replace the PID
to control the speed of DC motor.
Fig. 6. Structure of fuzzy logic.
Several studies of the FLC approach for tuning the PID
a) Fuzzification. controller of DC motor speed control have been conducted
by the researcher in reference [3], [4], [11], [46], [47].
The first process is fuzzification, the aims are to find Bansal and Narvey [3] presented a PID-based DC motor
fuzzy numbers on each membership function. There are speed control using the FLC technique as parameters self-
several types of fuzzification designs, namely Trapezoidal, tuning. FLC adjusted the , , and gain parameters of
Triangular, Gaussian and Generalized bell MF. The the PID controller. Based on the simulation result, the Fuzzy
triangular shape is the most commonly used design. To find self-tuning method in the PID controller was able to
fuzzy numbers in triangular form, the equations are given increase the performance of the system. The proposed
by: method produced a small overshoot, less rise and settling
time on a speed track, a minimum steady-state and overall
(4) performance showed better results than the conventional
method. Ohri [48] presented a Fuzzy based PID algorithm as
the control of DC motor speed using LabView. Simulation
(5) results showed that the use of FLC for tuning the PID
controller was better in producing damping ratio, rise time,
where and are tangent triangles, each of which settling time and peak time than conventional PID tuning
is a left and right triangle, a is the left end of each triangle, b method. In addition, FLC plus PID also produced a
is the peak, c is the right end and x is the input value. minimum of steady-state. FLC plus PID can maintain the
b) Fuzzy Inference System speed of the DC motor at the desired value. Montiel et al.
[49] had done a comparison test of DC motor speed control
The second stage is a Fuzzy Inference System (FIS) scheme using FLC and PID. FLC had been used as a Simple
based on a knowledge base. Knowledge-base is a linguistic Tuning Algorithm (STA) method, while PID uses the
variable that is made to define the relationship between Ziegler-Nichols method. The results obtained indicate that
input variables and output variables. For tuning the PID of FLC as STA was simpler and easier to apply because it
DC motor speed, knowledge-base is shown in Table 2. required only one parameter. While in the PID control
scheme, to achieve better performance, all iterative
TABLE II. KNOWLEDGE-BASE
processes are needed to find better constant values for ,
∆E/E NB NS Z PS PB and parameters. Khuntia et al. [46] presented a
NB NB NB NB NS Z comparative study of various speed control methods for DC
NS NB NS NS Z PS motors, i.e. Proportional-Integral (P-I), Integral-Proportional
Z NB NS Z PS PB (I-P) and FLC. The results obtained showed that P-I
PS NS Z PS PS PB controllers were commonly used as motor speed control
schemes. They generally have various disadvantages
PB Z PS PB PB PB
including high overshoot start, sensitivity to the gain
controller, and slow response due to sudden noise. The I-P
The FIS process can be used is the Mamdani, Takagi- scheme was able to reduce losses caused by the P-I
Sugeno or other schemes. From the various schemes, controller, but had no significant impact. While the
Mamdani is a scheme that is widely used. This scheme is proposed Fuzzy control was able to provide a better impact
based on the Min-Max function. The minimum is used to than the previous two schemes. The most prominent of the
retrieve the results of a comparison of fuzzy numbers. Then advantages of Fuzzy control is a better response.
Maximum is used to retrieve if there is the same linguistic
variable. VI. COMPARISON OF EACH CONTROL STRATEGIES
c) Defuzzification According to the literature that was previously
Defuzzification is the final stage of the FLC scheme by investigated, we can provide a comparison of the intelligent
converting fuzzy numbers to crisp as output. This process techniques for speed control of DC motor that were
can be based on the center of gravity. The defuzzification discussed in this paper. The comparison becomes difficult to
process can be elaborated by equation (6). do because of the different methods and results obtained
from previous research. The comparison cannot be provided
∑ in the form of numbers due to differences in results and
(5) applied research methods. However, the comparison of the
∑

28
proposed system must be fair. The performance comparison ACKNOWLEDGMENT
presented in this paper included the main problem terms in This research was supported by Institute of Advance
the PID controller, such as Rise time, Settling time, Steady- Engineering and Science (IAES) and Electrical Engineering
state error, Maximum overshoot and Theoretical complexity Research Group of Universitas Ahmad Dahlan.
of the strategies. The comparison of each control strategy
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