PID TUNING USING

EXTREMUM SEEKING
CONTROL
By
VINEET MISHRA
THEORY OF EXTREMUM SEEKING
CONTROL
 Extremum seeking control is a non-model based adaptive control method .
 It iteratively modifies the arguments of objective function so that it reaches
a local maximum
 Since Extremum Seeking is a gradient method , the PID parameters found by
Extremum Seeking are not necessarily a global maximizer of objective
function .
BLOCK DIAGRAM
HOW EXTREMUM SEEKING WORKS ?
CONTINUED -
 For any given objective function there is a set of input parameters which
maximize the objective (u*) . This is the value which the extremum seeking
control tries to reach at . Suppose we assumed u1 as our initial optimal guess
point , at this point if we give a sine wave perturbation , we observe another
sine wave response from the given objective function . Now if we multiply the
sine wave perturbation with the response obtained from the objective
function and remove its DC portion using a high pass filter, we obtain a wave
that is positive at all times now if we add this positive value to the initial
guess point we move closer to u* .

SIMULINK DESIGN -
FUNCTIONS OF DIFFERENT BLOCKS IN
THE CLOSED LOOP -

 HIGH PASS FILTER – It is used to eliminate the DC content of the perturbed wave
at the point of inspection .
 MULTIPILER – It is used to multiply the sine wave perturbation to the objective
function to give the amount by which the initial assumed guess has to be
changed .
 INTEGRATOR – It is used to accumulate all the derived changes in the initial
assumed point of maxima to finally arrive at the local maxima after repeated
iterations .
 GAIN – It decides how quickly we will reach the point of maxima . It’s value has
to be adjusted otherwise we will not get smooth path to the point of maxima .
 SUMMER – It is used to add the sine wave perturbation to the point where we
have reached in the iteration before , so as to check whether we need to move
forward or backward or we are at the point of maxima .
RESULTS -

 REPRESENTS THE VARIATION OF OBJECTIVE FUNCTION WITH INPUT

PARAMETERS -
THANK YOU