A Self-adaptive Shuffled Frog Leaping Algorithm for Multivariable PID Controller's Optimal Tuning

To insure the multi-input multi-output (MIMO) system has good system response and anti-jamming capability under no decoupling, this paper proposed a self-adaptive shuffled frog leaping algorithm to solve the multivariable PID controller's optimal tuning problem. First, the mathematical description of optimal tuning problem of multivariable PID controller is given. Second, a modified SFL with a parameter adaptive adjustment strategy in the basis of convergence analysis is proposed to enhance SFL's global searching ability and to improve its searching efficiency. Finally, a classical simulation example proposed by Wood and Berry is used to compare the performance of our modified SFL with SFL proposed by Thai and wPSO proposed by Shi, and the optimal results of PI/PID controller demonstrate the effectiveness of our algorithm.