Modeling and PID controller design using optimization technique for pneumatic system

Proportional Integral Derivative (PID) controllers is prominent controllers used in industry due to its remarkable effectiveness in term of producing, simplicity of implementation and broad applicability. However, tuning of this controllers is time consuming, effortful and thus, it may lead to poor performance especially with non-linear systems. A linear parametric model of ARX is constructed based on system identification to overcome the modeling complexity. A discrete PID controller has been applied to track the desired position. Particle Swarm Optimization (PSO) algorithm and Harmony Search Algorithm (HAS) applied in controllers to optimize the controller's parameter. Both optimization algorithm was produced the best value of proportional gain, integral gain and derivative gain. Each optimization was suggesting three suitable gains for PID controller in order to achieve best performance. The tracking performances of controller based on both optimizations are compared between simulations and real-time. The validation of real-time is executed by comparing the experimental results with simulation results of load effect.