Fixed order robust Controller Design by using H? Loop Shaping and Immune Algorithm for Ball and Hoop System

Abstract

This work presents an innovative design practice for
determining the fixed order robust proportionalintegral-
derivative (PID) controller for ball and
hoop system using the immune algorithm (IA). The paper
demonstrates how to make use of the IA to search the
optimal PID-controller gains. This approach has much
better characteristics, including easy to implement, sure
convergence attribute and fine computational efficacy. The
optimum PID-controller tuning yields high-class solution.
To support the predicted performance of the proposed IA
based scheme a performance criterion i.e. cost function is
also defined, and the preferred practice was more proficient
and robust in getting better step response of ball and hoop
system.
The simulation results demonstrate that IA- based PID
controller be able to compensate the effect and improve the
performance of control system. Additionally, the proposed
design practice overcomes the weakness of conventional
practices and improvement has been accomplished in terms
of time domain performance.