Self-tuning PID controller of an activated sludge process using evaluationary algorithm

Abstract

Proportional Integral Derivative (PID) controllers are widely used in many fields because they are simple and effective. Tuning of the PID controller parameters is not easy and does not give the optimal required response, especially with non-liner system. In the last two decades many intelligent optimization techniques were took attention of researchers like: Particle Swarm Optimization (PSO) and Gravitational Searching Algorithm (GSA) techniques. This research is represented the non-linear mathematical model multi input multi output MIMO and simulation of the wastewater treatment plane (WWTP) with closed loop PID controller, And is aimed to investigate a new multivariable control methodology using a self-tuning PID control algorithm to control the concentration of dissolved oxygen and nitrate of a wastewater treatment plane. The traditional PID tuning technique is proposed as a point of comparison. Relative Gain Array (RGA) is applied which yields identity matrix for both reduced model. Integral Time Square Error (ITSE) has been chosen as the objective function. Two of intelligent optimization techniques: GSA is proposed in this research, and PSO is from previous research to tune the PID controller parameters.