Abstract—In this paper, an intelligent PID controller based on Chaotic Particle Swarm Optimization (CPSO) algorithm for Ball and Hoop system is designed. In this system, two goals are tracked; the first one implies on set-point tracking, and the second one includes both set-point tracking and disturbance rejection. The classical methods of PID tuning such as Ziegler-Nichols are based on trial and error, and generally, their responses have a high settling time and overshoot; however, the proposed CPSO-PID controller determines the parameters of PID controller automatically and intelligently by minimizing the integral absolute error (IAE). The simulation results on Ball and Hoop system show that the proposed CPSO-PID controller leads to superior performance compared to Ziegler-Nichols method in both set-point tracking and disturbance rejection in terms of rise time, settling time, maximum overshoot, and the integral of absolute error (IAE) performance criterion.

Index Terms—Chaotic particle swarm optimization, PID controller, ball and hoop system, integral of absolute error (IAE).

H. Mojallali is with the Electrical Engineering Department, Faculty of Engineering, University of Guilan, Rasht, Iran (e-mail: mojallali@guilan.ac.ir)
R. Gholipour, A. Khosravi, and H. Babaee are with the Department of Electrical and Computer Engineering, Babol (Noushirvani) University of Technology, Babol, Iran.

Cite: Hamed Mojallali, Reza Gholipour, Alireza Khosravi, and Hossein Babaee, "Application of Chaotic Particle Swarm Optimization to PID Parameter Tuning in Ball and Hoop System," International Journal of Computer and Electrical Engineering vol. 4, no. 4, pp. 452-457, 2012.