ABSTRACT

The speed of DC Motor can be controlled using Proportional Integral and Differential (PID)
controller in which tuning parameters play an important part. DC motors have speed dynamics
where mechanical parameters like inertia and damping and electrical parameters like resistance
and inductance are taken into account. The objective of the controllers is to maintain the speed
of rotation of motor with a particular step response while minimizing the error. Ziegler-Nichols
(ZN) is the most frequently used method for tuning the PID controller. The nonlinearity and
time-varying model of dc motor speed control system makes the offline setting of PID
parameter not the optimum method. Due to this, hybrid controller has been introduced to tune
the PID gains online. This thesis compares the performances of self-online tuning schemes for
PID controller. The ZN PID, fuzzy-PID, offline PSO PID, online PSO PID, offline ACO PID,
online ACO PID and MPC are compared with the help of MATLAB/SIMULINK simulation
results.