IEEE International Conference on Computer, Communication and Control (IC4- 2015)

Tuning of PID Controller for Position Control of

DC Servo Motor using Luus-Jaakola Optimization

N.S. Rathore1 D.P.S. Chauhan2 V.P. Singh3

Electrical Engineering Department, Electrical Engineering Department, Electrical Engineering Department,
NIT Raipur NIT Raipur NIT Raipur
Raipur, India. Raipur, India. Raipur, India.
natwarsmertia@gmail.com1 dharampal.jss@gmail.com2 vinaymnnit@gmail.com3

Abstract— This paper presents an efficient and fast tuning
method of controller parameters for position control of DC servo
motor. A control scheme for PID controller tuning is proposed here
which is based on Luus-Jaakola Optimization. Luus-Jaakola
optimization procedure is used to optimize large scale nonlinear
optimization problems. The tuning of PID controllers is
accomplished by minimizing the Integral-Square-Error (ISE). The
ISE is minimized using the Luus–Jaakola (LJ) optimization
algorithm. LJ optimization procedure is a simple, yet powerful
method for optimization available in literature. The results of PID
control using LJ method are compared with the Ziegler-Nichol’s
(ZN) tuning. The simulation results show that the LJ method
performs better results than the ZN technique and can successfully
be used for tuning of PID controllers for DC servo motor.
Keywords— Luus Jaakola (LJ), DC servo motor, Integral-Square
Error (ISE), Ziegler-Nichols(ZN)
I. INTRODUCTION
This paper proposed an intelligent soft computing scheme of
controller parameter tuning for position control of DC servo
motor. PID controller is widely used in many industrial and
domestic applications, to control the parameter variations which
make system unstable. So we need to control the undesired
response such as big overshoot, settling time. The function of
PID controller is to maintain the system response at desired level
so that there is no difference between process variable and set
point value and to minimize time domain performance measures
such as minimize Rising time, settling time and overshoot [1].
PID controller is very popular because of its simplicity,
robustness and reliability with some limitations. A PID
controller improves system response both transient as well as
steady state response. Ziegler and Nichols proposed first method
in 1940 for the tuning of PID parameters [2]. But in some cases
it has been difficult to tune the parameters with conventional
techniques consist some issues such as nonlinearities, time
delays so to overcome such type of difficulties control engineers
are working on some intelligent techniques which gives better
results such as Genetic Algorithm(GA), Tabu Search(TS) and
Particle Swarm Optimization (PSO). Genetic Algorithm is faster
than TS, GA method has been successfully applied for Global
Optimization Problems. GA is based on Darwinian principles of
biological evolution, inspired by evolutionary biology as
inheritance, mutation, crossover and natural selection. It has
some disadvantages for some specific optimization problems
such as operating on dynamic data set is difficult for GA and it
may have a tendency to converge towards local optima rather
than global optimum in case if fitness function is not properly
defined [3], [4],[7].
This paper proposes basic concepts of LJ Optimization and
its application to DC servo motor [5], [6]. The tuning of the PID
controllers is accomplished by minimizing the ISE [12].Further
a robust PID controller is design for the problem. The ISE is
minimized using the LJ algorithm [13][14].
This Paper presents a LJ algorithm and a comparison with
the conventional ZN Method of optimization. A brief
introduction has been given in this section. The rest of this
paper contains as follows: Section II contains mathematical
model of DC servo motor, Section III gives introduction to PID
controller design, Section IV contains concept of LJ
Optimization, Section V gives proposed scheme of LJ based PID
controller tuning, section VI describe comparison of different
 IEEE International Conference on Computer, Communication and Control (IC4- 2015)

techniques and shows simulation results and finally conclusion controller parameter which is efficient and fast tuning scheme
in section VIII. and gives better results.
However, it provides a rough description of the process
II. MODELING OF DC SERVO MOTOR behavior that is essential for designing a network based PID
As we have consider schematic diagram of armature control system.
controlled DC servo motor as shown in Figure 1. The control
can be archived either by controlling the field current or
armature current. Generally it have separate DC source for
armature winding and field winding. DC servo motor is a linear R( s) + Ev ( s) K1 T (s) C (s)
SISO plant model having third order transfer function. n
Ra La s( La s  Ra )( J a s  B0 )  K1 K 2 s
-
  Fixed
Field K3 s

Tm (t)
E v (t)K1 E b (t) Fig. 2. Block Diagram representation of DC servo motor
θ(t)

III. PID CONTROLLER DESIGN

 
Fig. 1. Schematic Diagram of DC servo motor
Mathematical relationship between the shaft angular position
and voltage input to DC servo motor can be derived from the
physical laws. This paper focuses on the design of such a
controller for DC servo motor [6] which can guarantee stability
of system and can give an optimal PID controller. A well known
mathematical model of DC servo motor is given by equation (1)
[6],[7].
T (s) K1
G p ( s)
Ev ( s) s( La s  Ra )( J 0 s  B0 )  K1 K 2 s
Where
J 0 = Moment of inertia of the motor( Kgm 2 /rad )
B0 = Viscous friction coefficient (Nm/(rad/sec))
T = Angular displacement of the motor shaft
Ra = Armature resistance (Ω)
La = Armature inductance (H)
K1 = Electromotive force constant (Vs/rad)
K 2 = Back emf constant of motor (volt/(rad/sec))
Ev = Electromotive voltage (V).
The system can be represented by the block diagram as
shown in figure 2.Controller for above model has been tuned by
Ziegler Nichols, GA, PSO and other analytical techniques [7].
This paper presents a new heuristic approach to tune the PID
Controller in any system plays very significant role and helps
in taking remedial control action. The essential function of
controller is to maintain the output at that level so that there is
no difference between the measured output and set point value.
PID controllers are the predominant type of controllers which
are used in almost every process industry. PID controller is
widely used in industries due to its simplicity and easy to
implement. A PID controller calculates an “error” and tries to
minimize it by adjusting the control inputs. It improves the
transient response of the system by reducing overshoot and by
shortening the settling time and also has the ability to eliminate
steady state offset through integral action. The transfer function
for the PID controller can be written as,
Ki
Gc ( s) Kp   Kd s (2)
(1) s
where
K p = Proportional Gain
Ki = Integral Gain
K d = Derivative Gain
IV. CONCEPTS OF LUUS- JAAKOLA
In LJ optimization algorithm, initial test points over some
region are chosen arbitrarily. The region sizes are contracted in
successive iterations with the best values found in previous
iteration. Due to ease of programming and ease of handling
constraints, this algorithm has applied in variety of problems
[12]-[15]. It is worth mentioning here that LJ algorithm is found
to be faster than genetic algorithms and particle swarm
 IEEE International Conference on Computer, Communication and Control (IC4- 2015)

optimization in some applications. The steps for LJ optimization The performance index given by (9) is minimized using LJ
are as follow: algorithm.
Step 1: Initially decide the size for all decision variables. Let,
The main objective of optimization technique is to tune the
these are
parameters that can minimize the objective function, which is
xi 0 , i 1, 2,...., M (3) error criterion or performance index in this case. Performance
and region size for each decision variable. Let, these are index is represented as function of error.
ri , i 1, 2,...., M (4)
The region size should be chosen such that the solution lies in
ª 0 ri 0 ri º VI. SIMULATION RESULTS AND COMPARISON
« xi  2 , xi  2 » (5)
For implementation of DC servo motor the following
¬ ¼
parameters are considered [7].
Step 2: Take R sets of random points to be used in each iteration.
These are obtained as: Ra =1.0ohm, La =0.5H, K 2 =0.01V/rad/sec, K 2 =0.01N.m/Amp,
xi ( j ) xi 0 ( j )  V .ri ( j ), i 1, 2,...., M , j 1, 2,...., R (6) J 0 =0.01Kg-m2 /rad, b0 =0.1N-ms.
where V [0.5,0.5] . The overall transfer function of the system is given as
Step 3: Check the feasibility of all constraints. 0.01
G(s) (11)
Step 4: Evaluate the performance index(PI), for all feasible 0.005s 3  0.06s 2  0.1001s
points.
Step 5: Now, choose the minimum performance index and Simulation result shows performance specifications in time
corresponding values of variables, xk , k  [1, M ] . Replace xi 0 , domain. LJ based PID controller gives better results than Ziegler
Nichols tuning scheme. In this paper LJ Optimization method is
by this new value xk . introduced which gives better results than other optimization
Step 6: Reduce the region size vector r(k) as technique available in literature. The PID controller parameter
r (k  1) J . r (k ) (7) values which was obtained by LJ is compared with Ziegler
where J is a region contraction factor such as 0.96, and k is the Nichols scheme. Controller parameters which are obtained from
ZN-PID and LJ-PID scheme are listed in Table I. A reference
iteration number. step input was given to the system. Fitness function for LJ is
Step 7: Go to step 2 and repeat above procedure (step 2 to step 6) performance criteria which is ISE here.
for N iterations.
V. PROPOSED SCHEME FOR PID TUNING
TABLE I. VALUES OF PID GAINS
In Proposed scheme tuning of controller parameters is done
using Luus-Jaakola Optimization method. Parameters ZN-PID LJ-PID
The tuning of PID controllers is completed using ISE Kp 102.6374 135.8290
minimization. The performance indices of controller are given as
f Ki 72.0720 130.8480
³e
2
J (t ) dt (8)
0 Kd 12.6486 31.6430
The ISE given by is J determined as
p
Ei 2
J ¦
i 1 2D i
(9)
TABLE II. COMPARISON OF TIME DOMAIN SPECIFICATION
where the p is order of error e( s) and the parameters D i
Parameters ZN-PID LJ-PID
and E i are determined from the denominator and numerator
Performance Index 0.6884 0.03037
coefficients [11] of the e( s) . (ISE)
Using equation (1) the e( s) can be given as Peak Overshoot 56.6720 0
La J 0 As3  ( La B0  Ra J 0 ) As 2  ( Ra B0  K1K2 )s (%)
e(s) (10) Undershoot(%) 8.9570 0
La J 0 s 4  ( La B0  Ra J 0 )s3  (Ra B0  K1K2  K1K d )s 2  K1K p s  K1Ki Rise time (sec) 0.2901 0.4289
Settling time (sec) 2.9139 0.9543
 IEEE International Conference on Computer, Communication and Control (IC4- 2015)

Peak time (sec) 0.5011 0.9960 fig.4, results shows that LJ optimization gives better results in
terms of settling time, peak overshoot and undershoot.
A sketch of the error based on ISE for 100 iterations is
shown in fig. 3 the value of error decreases with the VII. CONCLUSION
advancement in iterations.
In this paper, PID tuning is presented using LJ optimization
method for the position control of DC servo motor. The tuning
of PID controllers is accomplished by minimizing the Integral-
3000 Square-Error (ISE). MATLAB software tool is used for finding
the controller parameters for the PID controller used in the DC
2500 servo motor. A computer simulation is done to illustrate the
results for ZN-PID and LJ-PID. It is clear from the results that
proposed method of tuning gives better results.
2000
Performance Index J

1500
REFERENCES

1000
[1] B. Nagraj, S. Subha, and B. Rampriya, “Tuning algorithm for PID
controller using soft commuting techniques”, IJCSNS International journal
500 of computer science and network security, Vol.8, No. 4, April 2008
[2] S. Panda, J. S. Yadav, N. P. Patidar and C. Ardil, “Evolutionary
Techniques for Model Order Reduction of Large Scale Linear Systems”,
0
0 20 40 60 80 100 120
World Academy of Science, Engineering and Technology 57, 2009
No. of itterations [3] Zwe-Lee Gaing, “A particle swarm optimization approach for optimum
design of PID controller in AVR system”, IEEE Transactions on energy
Fig. 3. ISE Performance Index for 100 iterations conversion, Vol.19, No. 2, June 2004.
[4] S. Panda, J. S. Yadav, N. P. Patidar and C. Ardil, “Evolutionary
Techniques for Model Order Reduction of Large Scale Linear Systems”,
World Academy of Science, Engineering and Technology 57, 2009.
Step Response
1.6 [5] Bindu R., Mini K. Namboothiripad, “Tuning of PID Controller for DC
Servo Motor using Genetic Algorithm”, IJETAE, Volume 2, Issue 3,
ZN-PID
1.4 March 2012.
LJ-PID
[6] Katsuhika Ogata, “Modern Control Engineering,” 5th ed., PHI publication,
1.2 2011.
[7] Sulochana Wadhwani, Veena Verma, “Evolutionary Computation
1 Techniques Based Optimal PID Controller Tuning,” International Journal
of Engineering and Technology(IJETT), vol.4, issue 6 ,pp. 2529-2534,
June 2013.
Amplitude

0.8
[8] Natwar S. Rathore, Neha Kundariya, Anirudha Narain, “PID Controller
0.6 Tuning in Reverse Osmosis System based on Particle Swarm
Optimization,” International Journal of Scientific and Research
0.4 Publications (IJSRP), vol. 3, Issue 6, pp. 817-824, June 2013.
[9] Astrom, K.J., “Introduction to stochastic control theory,” Academic Press,
0.2
New York, 1970.
0
[10] V.P.Singh, D.Chandra, “Reduction of discrete interval system using
clustering of poles with Pade approximation: a computer aided appraoch,”
International Journal of Engineering, Science and Technology, vol.4, no.1,
-0.2
0 1 2 3 4 pp. 97-105, 2012.
Time (seconds) [11] Luss, R., “Optimization in model reduction,” Int. J. Contr., vol. 32, pp.
741-747, 1980.
Fig. 4. Comparison graph of step response with ZN-PID and LJ-PID [12] Luss, R., and Jaakola, T.H.I.,“Direct search and systematic reduction of
size of search region,” A.I.Ch.E.J.,vol. 19, pp. 760-766, 1973.
The objective of this paper is to obtain such a PID controller [13] Liao, B., Luus, R., “Comarision of the Luus-Jaakola optimization
which gives optimal result and minimize error criteria. A procedure and the genetic algorithem,” Engineering optimization, vol.37,
comparison of time domain specification between both the no. 4, pp. 381-398,2005.
techniques i.e LJ and ZN is listed in Table.2 A comparison [14] N. S. Rathore, D. P. S. Chauhan, and V. P. Singh, "Luus-Jaakola
graph of step response with ZN-PID and LJ-PID is shown in Optimization Procedure for PID Controller Tuning in Reverse Osmosis
 IEEE International Conference on Computer, Communication and Control (IC4- 2015)

System," International Conference on on Electrical, Electronics, and Robotics (IRAJ-IACEER 2015).