Co-evolutionary design of pid control structures

Competitive and cooperative artificial co-evolution using genetic algorithms are proposed to design PID control structures. A competitive coevolutionary based technique is proposed to design robust single-input single-output PID controllers to deal with prescribed parametric uncertainties. A cooperative coevolutionary approach and structured genetic algorithms are merged to cope with the identification of a multi-input multi-output plant within the problem of auto-tuning decentralised multivariable PI controllers. Simulated illustrative examples of both co-evolutionary techniques are presented. Copyright (C) 2000 IFAC.