I need cost function for tuning PID controller help me
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I have to apply some algorithms for tuning PID controller parameters (Kp,Ki,Kd) so for any algorithm i have to get separate cost function file or called objective function so if anyone has p;ease send me the file thanks
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Sam Chak
am 23 Nov. 2022
Bearbeitet: Sam Chak
am 25 Dez. 2022
Hi @Yazeed Ali
Not sure what your system is, but I think you can try the one of the simplest cost function probably looks like this:
Tuning the gains is probably simpler by manual calculations (follow formulas in textbooks) or with the pidtune() command.
function J = costfun(Kp, Ki, Kd)
[t, x] = ode45(@(t, x) myode(t, y), tspan, ic, opts);
error = x - x_ref;
J = trapz(t, error.^2); % ISE
% J = trapz(t, t.*abs(error)); % ITAE
end
function dxdt = myode(t, x)
% Insert your system and the PID controller
dxdt = A.*x + B*u;
end
Edit: An example is included.
Example: Consider the system described by
.
The cost function J is given by
where
and .
A full state-feedback controller is used:
The optimal feedback gain matrix is found using fmincon().
costfun = @objfun;
nvars = 2;
A = -eye(nvars);
b = zeros(nvars, 1);
Aeq = [];
beq = [];
lb = [0 0]; % lower bound
ub = [2 2]; % upper bound
k0 = [0.5, 1.5]; % initial guess
[k, fval, exitflag, output] = fmincon(costfun, k0, A, b, Aeq, beq, lb, ub)
function J = objfun(k)
tspan = linspace(0, 30, 3001);
ic = [1 0];
[t, x] = ode45(@(t, x) myode(t, x, k), tspan, ic);
Q = eye(2);
R = 1;
ifcn = Q(1,1)*x(:,1).^2 + Q(2,2)*x(:,2).^2 + R*(- k(1)*x(:,1) - k(2)*x(:,2)).^2;
J = trapz(t, ifcn); % ISE
end
function dxdt = myode(t, x, k)
dxdt = zeros(2, 1);
% my controller
u = - k(1)*x(1) - k(2)*x(2);
% my system
dxdt(1) = x(2);
dxdt(2) = - x(2) + u;
end
9 Kommentare
Sam Chak
am 27 Dez. 2022
Bearbeitet: Sam Chak
am 27 Dez. 2022
I'm familiar with Grey Wolf. Why not consider posting the GWO code and the error message in a new Question? GWO was published by Seyedali Mirjalili in 2014. Optimization experts in MATLAB would be able to advise you.
I'm not sure if the proposed Cost function is helpful or not. Most likely it is because you cannot test with the GWO. However, it works with other optimizers such GA, PSO, ABC, etc., then we can safely assure that the proposed "Cost Function template" maybe effective.
I only verified it using fmincon. It does not guarantee to work with other optimizers. Let me know it doesn't work because I may consider removing it as I don't want other users to be misguided by the 'flawed' Cost Function. Thanks!
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