Saeed Tavakoli  , Ian Griffin  , Peter J. Fleming  , 
    Robust PI Control Design: A Genetic Algorithm Approach,
    International Journal of Soft Computing,
    Volume 2,Issue 3,
    2007,
    Pages 401-407,
    ISSN 1816-9503,
    ijscomp.2007.401.407,
    (https://makhillpublications.co/view-article.php?doi=ijscomp.2007.401.407)
    Abstract: Control design goals can smartly be achieved using numerical optimisation methods such as Genetic Algorithms (GAs). Using GAs, an efficient numerical method to obtain robust PI tuning formulae for first order plus dead time processes is presented in this study. The design method is based on optimal load disturbance rejection. In order to obtain a robust controller, a constraint on the maximum sensitivity is used. In addition, the design method deals with setpoint response through setpoint weighting. The design procedure has 2 main steps. In the first step, PI controller parameters are determined such that the IAE criterion to a load disturbance step is minimized and the robustness constraint on maximum sensitivity is satisfied. In the second step, good setpoint regulation is achieved by using a two-degree of freedom control scheme. In order to show the performance and effectiveness of the proposed tuning formulae, they are applied to 2 simulation examples.
    Keywords: Robust;GAs;design;genetic;load;PI