A novel robust PID controller design method

To deal with a kind of uncertainties existed in the complex industry processes, a new design method of robust proportional- integral- derivative (PID) controller based on coevolutionary particle swarm optimization was presented in the paper. The parameters tuning problem for robust PID controller was reduced to solve a maximum-minimum problem. A co-evolutionary algorithm based on particle swarm optimization (PSO) was used to solve this issue, and a PID controller with optimal robust performance index was obtained. For a continuous stirred tank reactor(CSTR) system under wide range of operating conditions, a robust PID controller was designed with the proposed method. The simulation results demonstrate the effectiveness of the proposed method, and showed that the PID controllers designed by the proposed method had better robustness and disturbance rejection in comparison with the one designed by LMI methods, and had a satisfying performance in a wide range of process operations.