New optimal tuning method of PID controller parameters for integrating processes

For integrator plus time delay processes, a new optimal tuning method of PID controller was proposed by combining the bacterial swarm foraging for optimization (BSFO) and the strategy of control system optimization design. BSFO simulates the social behavior of foraging bacteria, in which the bacteria positions in the parameter spaces are set as the parameters of PID controller, with the index of integral time absolute error (ITAE) being the fitness function of bacteria. Simulation of an integrator plus time delay process showed that the optimal PID controller based on BSFO has satisfying performance of settling time, overshoot, robustness and anti-disturbance capability. Finally, an empirical tuning formula was found by carrying out a large amount of simulation experiments.