Self-tuning of PID Parameters Based on the Modified Particle Swarm Optimization

To overcome premature of standard particle swarm optimization (SPSO) algorithm, a modified particle swarm optimization (MPSO) based on partial particle moving direction changing was proposed. It holds on the proprieties of simple structure, fast convergence, and at the same time, enhances the variety of the populations, extends the search space, and does not increase the computation complexity. Based on this, it is applied to self-tuning of PID parameters and the results are satisfactory. Simulation results show that the algorithms are effective and the designed controller has excellent performance.