Analytical design of the scorpion algorithm for FOLIPD processes with low gain

The first-order lag plus integrator plus delay (FOLIPD) processes with low gain are common in the control fields. A new control algorithm, which is called the scorpion algorithm, is proposed to solve the control problem of FOLIPD processes with input saturation. And the engineering scorpion algorithm (ESA) is proposed to achieve the scorpion algorithm application in practical engineering. The stability condition is obtained by means of the describing function method. The genetic algorithm (GA) approach is used to find the best values of ESA´s parameters by minimizing the ITAE criterion. Further, the ESA tuning rules are fitted through the regression analysis. It is demonstrated to be effective. The ESA is compared with other control algorithms, showing that the proposed method has a better performance.