Neural Comput & Applic (2013) 22:329336 DOI 10.

1007/s00521-011-0678-3

ORIGINAL ARTICLE

Harmony search algorithm-based fuzzy-PID controller for electronic throttle valve

Hui Wang Xiaofang Yuan Yaonan Wang Yimin Yang

Received: 27 April 2011 / Accepted: 15 June 2011 / Published online: 26 June 2011 Springer-Verlag London Limited 2011

Abstract The electronic throttle control (ETC) for a gasoline engine is a typical nonlinear plant because of its nonlinear spring and model-parameter changes caused by external environmental variables. In this paper, a fuzzy proportional-integral-derivative (PID) control strategy is proposed in order to improve the responsiveness of ETC. In the fuzzy-PID scheme, the input variables are the error signal and its derivative, and the output variable is PID gains expressed in terms of fuzzy rules. In this manner, the fuzzy-PID controller has more exibility and capability than conventional ones. A novel technique to tune the fuzzy rules of fuzzy-PID controller is proposed using a harmony search algorithm, which can search the optimal PID gains for the plant. Simulation and experiment results have shown the effective performance of the proposed controller. Keywords Electronic throttle Harmony search algorithm (HSA) Fuzzy logic control PID control

1 Introduction In the past few years, an increase in the demand for high performance automotive engines has seen electronic throttles become more widely used in the automotive industry [1, 2]. The electronic throttle is essentially a DC motor-driven valve that regulates air inow into the vehicles combustion system. By using electronic throttle, the engine control unit can correct the throttle position
H. Wang X. Yuan (&) Y. Wang Y. Yang College of Electrical and Information Engineering, Hunan University, Changsha 410082, Hunan, China e-mail: yuanxiaofang126@126.com

reference value for specic engine operating modes, thus improving drivability, fuel economy, and emissions [3]. The signicance of the ETC is that it is much easier to integrate vehicular features such as cruise control, traction control, stability control, and precrash systems. However, from the control point of view, electronic throttle is a highly complex nonlinear and uncertain plant. In order to overcome the challenging automotive control problem as in electronic throttle, several control strategies have been proposed, such as feedback linearization method-based approximate model controller [1, 2], a proportional-integral-derivative (PID) controller with nonlinear compensator [3], adaptive control strategy [4], robust feedback linearization with an adaptive PD regulator [5], constrained time optimal control strategy [6], sliding mode control strategy [7, 8], etc. A PID controller is a generic control loop feedback mechanism widely used in industrial plants because of its simple structure and convenience of implementation. The synthesis of a satisfactory PID controller is not easy for nonlinear plants due to parameter uncertainty and dynamic operation points. Therefore, various types of modied PID controller, such as auto-tuning or adaptive PID controllers [9, 10], fuzzy-PID controller [11, 12], have been developed. Fuzzy-PID controller provides reasonable and effective alternatives to conventional PID controller since it allows a simple and human approach in the controller design and it does not require plants precise mathematical model. Although fuzzy-PID controller introduces a good tool to deal with complicated, nonlinear, and undened plants, it suffers from a drawback, parameter tuning problem. Hence, there is a need for an effective method for parameters tuning of fuzzy-PID controller so as to minimize the plant output error, consequently, improve the performance [12]. Recently, several intelligent optimization techniques have been

123

330

Neural Comput & Applic (2013) 22:329336

explored for the parameters tuning of fuzzy-PID controller, such as stochastic algorithms [13], Genetic algorithm (GA) [14, 15], Particle Swarm Optimization (PSO)Evolutionary Programming (EP) hybrid algorithm [16], etc. In this paper, a novel optimization algorithm, harmony search algorithm (HSA) [1719], is employed to optimize a fuzzy-PID controller for electronic throttle valve. HSA method is a recently proposed meta-heuristic optimization algorithm , mimicking the musical process of search for a perfect state of harmony [17]. In contrast to a gradient search, the HSA uses a stochastic random search, based on the harmony memory considering rate and the pitch adjusting rate. The HSA has been successfully applied to many real-world optimization problems and proved to be better than other evolutionary algorithms in terms of solution quality [18, 19]. In this paper, the fuzzy-PID controller design is considered as an optimization procedure with an tness function minimizing the errors between the actual plant output and the desired plant output, while HSA will search the optimal fuzzy rules representing the proportional gain, integral gain, and derivative gain. This paper is organized as follows. In Sect. 2, the nonlinear dynamics of electronic throttle is presented. In Sect. 3, a fuzzy-PID controller is proposed, and the HSA algorithm is presented in Sect. 4. In Sect. 5, the HSA is applied to search the optimal fuzzy-PID controller for electronic throttle. In Sect. 6, several simulations and experiments illustrate the performance of the proposed controller for electronic throttle.

ia
u
m

Fig. 1 The structure of an electronic throttle valve control

dx m mapp mf dt dh Kl xm dt dm f ff mf ; xm dt J m S m S h

4 5 6 7

where u, input control voltage; Kch, chopper gain; ia, DC motor armature current; mm, motor torque; mS, return spring torque; mL, load (disturbance) torque; mapp, socalled applied torque; mf, friction torque; xm, motor angular velocity; h, position of the throttle plate; Ra, overall resistance of the armature circuit; La, overall armature inductance; Kt, motor torque constant; Kv, electromotive force constant; Kl, gear ratio, and J, overall moment of inertia referred to the motor side. The two major plant nonlinearitiesfriction (6) and limp-home nonlinearity (7)are discussed as below.The full nonlinear model of the plant is also shown in Fig. 2 [2]. (1) Friction nonlinearities: Friction occurs in the gearbox as well as in the throttle valve and motor shaft bearings, which can be described as [3]:   dmf jxm j r0 xm mf 8 MC dt

2 Model of electronic throttle An electronic throttle consists of a DC drive , a gearbox, a valve plate, a dual return spring, and a position sensor. All throttle components are assembled in a compact body as illustrated in Fig. 1 [1]. The control signal is fed to the bipolar chopper, which supplies the DC drive with the appropriate armature voltage. The armature current created induces the motor torque that is transmitted through the gearbox to the throttle valve plate. The valve plate movement stops when the motor torque is counterbalanced by the torque of the dual return spring, the gearbox friction torque, and the load torque induced by the air inow. Its dynamical behavior of this nonlinear plant can be described with the following equations [6]: La dia Ra ia Kch u Kv xm dt 1 2 3

where r0 is asperity stiffness coefcients, MC is Coulomb friction. (2) Limp-home nonlinearities: Following manufacturers specication, in case of a power failure, the throttle valve has to be placed in the so-called limp-home position. This position enables the vehicle to limp to the nearest repairing facility since there is some inow of air to the car engine [6].

3 Fuzzy-PID controller In a conventional PID controller, an absolute expression of three-term PID controller can be given by

mm Kt ia mapp mm mS mL

123

Neural Comput & Applic (2013) 22:329336

Kv

331

mL

u K ch

mm Ka ia Kt 1 Ka s
mf

1 Js

1 s

K1

Friction

ms

K1
Limp-home

Pn 1 Pn 2 ij i 1 j1 xij Y1 KP Pn1 Pn2 i 1 j1 xij Pn1 Pn2 ij i1 j1 xij Y2 KI Pn1 Pn2 i1 j1 xij Pn 1 Pn 2 ij i 1 j1 xij Y3 KD Pn1 Pn2 i1 j1 xij where
i xij minX1 e; X2j De

10

11

12

Fig. 2 Block diagram of electronic throttle model

13

ut KP et KI

t X i 0

Det eiDt KD Dt

where e and De are the control error and its derivative during the sampling interval Dt; KP ; KI ; and KD denote the proportional gain, the integral gain, and the derivative gain, respectively. By tuning the values of controller gains KP, KI, and KD, a PID controller can provide control action designed for specic plant requirements. Though many tuning methods have been proposed previously, the controller gains are always xed after tuning. Therefore, the designed PID controller lacks exibility and cannot efciently control plants that have changing parameters. To overcome this problem, fuzzy-PID controller is presented as an alternative because it allows a simple and human approach in the controller design and it does not require plants precise mathematical model [11, 12]. In the various types of fuzzy-PID controller, one type is the application of fuzzy rules to determine the controller gains KP, KI, and KD. This approach can be described as follows [20]. The input variables of the fuzzy rules are the error e and its derivative De; while the output variable is the controller gains KP, KI, and KD. The fuzzy rules for these controller gains are expressed as
1 1 1 If e is X1 1 and De is X2 then KP is Y1, KI is Y2, and KD is Y1 3; n1 n2 n1 n2 n1 n2 If e is X1 and De is X2 then KP is Y1 ; KI is Y2 ; and n1 n2 KD is Y3 :

where and represent the membership functions values of the antecedent fuzzy sets. From Eqs. (10) to (13), the PID controller gains using fuzzy rules can be implemented. If these controller gains are determined, the control signal u(t) in (9) can also be determined. From the above description, we can know that the gains of a fuzzy-PID controller are adaptive such that it may have more exibility and capability than conventional ones. However, the performance of a fuzzy-PID controller is affected by the designed fuzzy rules, and it is not easy to determine fuzzy rules directly due to the involvement of a large number of parameters. In this paper, the number of input membership function and the antecedent fuzzy sets are determined using expert knowledge, and the output ij ij parameters Yij 1 , Y2 , and Y3 are to be determined using the HSA approach. Therefore, a HSA-based method is proposed for the fuzzy-PID controller design, which will ij ij search for the optimal values of Yij 1 , Y2 , and Y3 in an iterative manner based on a tness function evaluating the control performance.

Xi 1( e )

Xj 2( e )

4 Harmony search algorithm The harmony search (HS) algorithm, proposed by Geem and Kim [17], is a nature inspired algorithm, mimicking the improvisation of music players. The HSA conceptualizes a behavioral phenomenon of musicians in the improvisation process, where each musician continues to experiment and improve his or her contribution in order to search for a better state of harmony [1719]. This section describes the HSA based on the heuristic algorithm that searches for a globally optimized solution. The procedure for a harmony search, which consists of Steps 15 [17]. Step 1. Initialize the optimization problem and HSA parameters. First, the optimization problem is described as follows: Minf X subjecttoxi 2 Xi ; i 1; 2; ...; N : 14

n1 n1 1 2 1 2 ; X1 ; . . .; X1 ; X2 ; X2 ; . . . ; X2 are the membership where X1 n1 n2 n1 n2 1 2 1 2 functions of e and De; Y1 ; Y1 ; . . .; Y1 ; Y2 ; Y2 ; . . .; Y2 ; n1 n2 1 2 Y3 ; Y3 ; . . .; Y3 are real numbers to be determined for controller gains; n1 and n2 denote the numbers of input membership functions. In the defuzzication process, the center of gravity method is used to determine the output crisp value from [20]:

123

332

Neural Comput & Applic (2013) 22:329336

where f(X) is an objective function; X is the set of decision variables; N is the number of decision variables; Xi is the set of the possible range of values for each decision variU L U able, that is, xL i B xi B xi and xi and xi are the lower and upper bounds for each decision variable, respectively. The algorithm requires several parameters: harmony memory size (HMS), maximum number of improvisations (MaxImp), harmony memory considering rate (HMCR), pitch adjusting rate (PAR), bandwidth vector used in (bw). Step 2. Initialize the harmony memory (HM). The HM matrix is initially lled with as many randomly generated solution vectors as the HMS, as well as with the corresponding function values of each random vector, f(X). 1 1 1 HM1 x1 1 ; x2 ; . . .; xN f X : 2 2 2 HM2 x2 1 ; x2 ; . . .; xN f X : HM
HMS

(1 - PAR) sets the rate of performing nothing. Thus, pitch adjustment is applied to each variable as follows: x0i x0i u1; 1 bw with probability HMCR PAR x0i x0i with probability HMCR 1 PAR 17

Step 4.

Step 5.

. . .; . . .; . . . xHMS ; xHMS ; . . .; xHMS f X HMS : 1 2 N 15

Update the HM. If the new harmony vector is better than the worst harmony vector in the HM, based on the evaluation of the objective function value, the new harmony vector is included in the HM, and the existing worst harmony vector is excluded from the HM. If the stopping criterion (or maximum number of improvisations) is satised, the computation is terminated. Otherwise, Steps 3 and 4 are repeated.

Step 3.

Improvise a new harmony from the HM. A new harmony vector, X 0 x01 ; x02 ; . . .; x0N ; is improvised based on the following three mechanisms: random selection, memory consideration, and pitch adjustment. In the random selection, the value of each decision variable in the new harmony vector is randomly chosen within the value range with a probability of (1 - HMCR). The HMCR, which varies between 0 and 1, is the rate of choosing one value from the historical values stored in the HM, and (1 - HMCR) is the rate of randomly selecting one value from the possible range of values.
2 HMS x0i x0i 2 fx1 g withprobability HMCR i ; xi ; ...; xi

5 Optimal fuzzy-PID controller design In this section,the HSA approach is employed to design a fuzzy-PID controller. In this paper, in the design of a proper fuzzy-PID controller for electronic throttle valve, the number of input membership function and the antecedent fuzzy sets are determined using expert knowledge, ij ij the output parameters Yi 1, Y2 , and Y3 are to be determined using the HSA approach. The output parameter tuning problem is considered as an optimization process to make the difference between the actual output and the desired output minimal. The discrepancy between the actual output and the desired output is minimized by the HSA approach based on a tness function evaluating the control performance. Generally, a SISO plant can be described with the following state equations: x k 1 f x k ; u k ; p y k g x k ; p 18

x0i x0i 2 Xi withprobability 1 HMCR 16 The value of each decision variable obtained by the memory consideration is examined to determine whether it should be pitch-adjusted. This operation uses the PAR parameter, which is the rate of pitch adjustment as it should be pitch-adjusted to neighboring pitches with a probability of HMCR 9 PAR, while the original pitch obtained in the memory consideration is kept with a probability of HMCR 9 (1 - PAR). If the pitch adjustment decision 0 0 for xi is made with a probability of PAR, xi is replaced with 0 xi u(-1, ? 1) 9 bw, where bw is an arbitrary distance bandwidth for the continuous design variable, and u(-1,1) is a uniform distribution between -1 and 1. The value of

where u(k) is the control input, y(k) is the plant output, and x(k) represents the state variables of the plant at time k. The parameter vector p stands for tuning parameters with the optimal values expressed as p*. In the design of the proposed fuzzy-PID controller for electronic throttle valve, ij ij the parameter vector p represents p = [Yi 1, Y2 , Y3 ]. To evaluate the vector p, plant output y(k) is compared with desired plant output yd(k). The tness function for parameter vector p can be dened as the weighted quadratic function shown in (19).

123

Neural Comput & Applic (2013) 22:329336

HSA approach Fuzzy rules

333

Evaluator

Step 1.

C ( p)

e
d dt

KP , KI , KD
yd
+

Step 2.
y
Electronic throttle

Choose the membership functions of the antecedent fuzzy sets as illustrated in Fig. 4, where |e| and jDej represent the absolute values of e and De; respectively. Set the fuzzy rules as:

PID controller

Fig. 3 Diagram of HSA-based fuzzy-PID controller

1 1 Rule 1: If |e| is ES then KP is Y1 1, KI is Y2, and KD is Y3; 2 Rule 2: If |e| is EM and jDej is ES then KP is Y1, KI is Y2 2, and KD is Y2 ; 3 Rule 3: If |e| is EM and jDej is EM then KP is Y3 1, KI is 3 Y3 , and K is Y ; 2 D 3 Rule 4: If |e| is EM and jDej is EB then KP is Y4 1, KI is 4 Y4 , and K is Y ; 2 D 3 5 5 Rule 5: If |e| is EB then KP is Y5 1, KI is Y2, and KD is Y3.

C p

k n X yk yd kT W yk yd k k 1

19

where W is a positive denite matrix. The control error will result in a nonzero C(p), which is a function of the parameter vector p. Thus, the tness function C(p) can be used to guide the search for a better parameter vector p. Now, the design of fuzzy rules of a fuzzy-PID controller for electronic throttle valve has been transformed into an optimization problem as to minimize C(p). The structure of the HSA-based fuzzy-PID controller is illustrated in Fig. 3. First, the fuzzy rules are determined randomly, and the corresponding control input u(k) is given to the plant. Then, the plant output y(k) and the desired plant output yd(k) are inputs to the performance evaluator, where the tness will be calculated. The calculated tness C(p) is then input to the HSA algorithm-based optimizer to search a better parameter vector p. For ofine applications, the controller optimization process will end after p has been successfully searched. For online applications, after p is successfully searched or the preset maximum iteration number has been reached, the current values p will be used to update the controller gains, and then the above process will be repeated. From the model of electronic throttle in Sect. 2, the angular position h is considered as the measured parameter for ETC design. For this purpose, a tness function minimizing the difference between the actual angular position h and the desired angular position hd in this application is constructed as (20). This tness function is then minimized by the HSA approach searching the best value p. n X C p hd k hk2 20
k 1

Therefore, there are totally 15 variable values of the output parameters, which are to be selected for the fuzzy-PID controller. Step 3. In order to search proper controller gains of a fuzzy-PID controller for electronic throttle valve, different control inputs u(k) varying 0-5 are fed into the plant, and measured actual plant outputs h(k) are collected, where k 1; 2; . . .; 100: Then, these inputoutput values are used as the training data set for fuzzy-PID controller. Step 4. Set the parameter values of the HSA. The search ranges for the output parameters are Y1 2 0:1; 20; Y2 2 0:01; 5; Y3 2 0:01; 5; the tness function is shown in (20). Step 5. The HSA in Sect. 3 is applied for the searching of fuzzy rules parameters using the training data set; then, the optimal controller parameters are searched.

6 Simulation and experiment Now, we will present the simulation and experiment results of the proposed controller for electronic throttle valve. Figure 5 displays the Matlab/Simulink-based simulation model for electronic throttle valve control implemented with the proposed fuzzy-PID controller. Note that the

ES 1
ES

EM
EM

EB
EB

e, e

e, e

e, e

where variables hd(k) and h(k) are the desired output and the actual output at time k, respectively. Now, we will present the implementation procedure for the proposed HSA-based fuzzy-PID controller for electronic throttle valve as follows:

e, e
0 0.5 1 1.5 2

Fig. 4 The membership functions of the antecedent fuzzy sets

123

334

Neural Comput & Applic (2013) 22:329336

Fig. 5 Simulation of fuzzy-PID controller for electronic throttle valve

38

Errors of Angle (Degree)

4

Fig. 6 Set-points tracking performance, angle (a) and errors of angle (b)

(a) 42
40 36 34 32 30 28 26 24 22 20 0 0.5 1 1.5 2 2.5 3 3.5
Desired Actual

(b)

1 0.8 0.6 0.4 0.2 0 0.2 0.4 0.6 0.8 1 0 0.5 1 1.5 2 2.5 3 3.5 4

Angle (Degree)

Time (Second)

Time (Second)

Fig. 7 Diagram of experiment apparatus for ETC system

Pentium

Parallel I/O D/A converter

En Dir PWM

Power Supply
Vs + Vs Vin + Vin -

Engine Throttle Valve

iMac

TMS320 F2812 DSP Memory

Oscillograph

H-Bridge Driver A/D converter

Vpos + GND

preload torque and the nonlinearity caused by the friction torque are also included. The simulation control performance of this application is illustrated in Fig. 6, which is the set-points tracking performance and the tracking errors. In Fig. 6, the desired plant output is denoted by full line, and the actual plant output is denoted by dotted line. In can be observed from Fig. 6 that the ETC system has a good performance using the proposed fuzzy-PID controller and it has a fast response capability with little static error and little overshoot. We have also applied the ETC system in an experiment apparatus. The experiment apparatus is shown in Fig. 7.

The parts of the experiment apparatus include digital signal processor(DSP), H-bridge driver, electronic throttle, the throttle position sensors, and power supply. We use a DVE5 model throttle designed by Bosch containing two position sensors. The real-time processing is carried out by Texas Instruments (TI) TMS320F2812 digital signal processor (DSP). The DSP implements proposed control program and executes in real time. The DSP uses an integrated 12-bit analog-to-digital (A/D) converter to read the position sensor output and produces two digital output signals to control the H-Bridge pulse width modulation (PWM) driver, enable and direction via 12-bit digital-to-analog (D/A) converter.

123

Neural Comput & Applic (2013) 22:329336 Fig. 8 Set-points tracking performance of ETC system, angle (a) and errors of angle (b)

335

(a)
Angle (Degree)

35 34.5 34 33.5 33 32.5 32 31.5 31 0 0.5 1 1.5 2 2.5 3

Errors of Angle (Degree)

Desired FPID2 FPID1

(b)
0.8 0.6 0.4 0.2 0 0.2 0 0.5 1 1.5 2 2.5 3

FPID2 FPID1

3.5

3.5

Time (Second)

Time (Second)

Errors of Angle (Degree)

Fig. 9 Set-points tracking performance of ETC system, angle (a) and errors of angle (b)

(a) 36
35 34

Desired FPID2 FPID1

(b)

0.5 0.4 0.3 0.2 0.1 0 0.1 0.2 0.3 0.4 0.5

FPID2 FPID1

Angle(Degree)

33 32 31 30 29 28 27 0 0.5 1 1.5 2 2.5 3 3.5 4

0.5

1.5

2.5

3.5

Time (Second)

Time (Second)

Two different kinds of set-points tracking performance are conducted in this experiment with different operating points and reference changes. The proposed HSA-based fuzzy-PID controller (FPID2) is compared with a fuzzyPID controller (FPID1) whose parameters are chosen by manual adjustment. The set-points tracking performance of these two controllers are shown in Figs. 8 and 9, which also illustrate the tracking errors. From this experiment,we know that the proposed controller can be adhered to a faster transient response with better accuracy.

Postdoctoral Science Foundation Funded Project (No. 20100480937), and the Fundamental Research Funds for the Central Universities and Hunan University.

References
1. Yuan X, Wang Y, Wu L (2008) SVM-based approximate model control for electronic throttle valve. IEEE Trans Vehicul Technol 57(5):27472756 2. Yuan X, Wang Y (2009) A novel electronic throttle valve controller based on approximate model method. IEEE Trans Indus Electron 56(3):883890 3. Deur J, Pavkovic D, Peric N, Jansz M, Hrovat D (2004) An electronic throttle control strategy including compensation of friction and limp-home effects. IEEE Trans Indus Appl 40(3):821834 4. Pavkovic D, Deur J, Jansz M, Peric N (2006) Adaptive control of automotive electronic throttle. Control Eng Practice 14(2):121 136 5. Mercorelli P (2009) Robust feedback linearization using an adaptive PD regulator for a sensorless control of a throttle valve. Mechatronics 19(8):13341345 6. Vasak M, Baotic M, Petrovic I, Peric N (2007) Hybrid theorybased time-optimal control of an electronic throttle. IEEE Trans Indus Electron 54(3):14831494 7. Reichhartinger M, Horn M (2009) Application of higher order sliding-mode concepts to a throttle actuator for gasoline engines. IEEE Trans Indus Electron 56(9):33223329 8. Nakano K, Sawut U, Higuchi K, Okajima Y (2006) Modelling and observer-based sliding-mode control of electronic throttle systems. ECTI Trans Electr Eng Eletron Commun 4(1):2228

7 Conclusion A harmony search algorithm-based fuzzy-PID controller for electronic throttle valve is presented in this paper. The controller gains are determined using fuzzy rules, and HSA is employed to optimize the fuzzy rules. Simulation and experiment results validate the effectiveness of the proposed controller. Though electronic throttle is discussed, the method is generally applicable to other types of electrical equipments, as well as to other dynamic systems with nonlinear model structure.
Acknowledgments The authors would like to acknowledge the support of the Specialized Research Fund for the Doctoral Program of Higher Education of China (No. 20090161120020), China

123

336 9. Dey C, Mudi Rajani K (2009) An improved auto-tuning scheme for PID controllers. ISA Trans 48(4):396409 10. Mizumoto I, Ikeda D, Hirahata T, Iwai Z (2010) Design of discrete time adaptive PID control systems with parallel feedforward compensator. Control Eng Practice 18(2):168176 11. Ahn KK, Truong DQ (2009) Online tuning fuzzy PID controller using robust extended Kalman lter. J Process Control 19(6):10111023 12. Truong DQ, Ahn KK (2011) Force control for press machines using an online smart tuning fuzzy PID based on a robust extended Kalman lter. Exp Syst Appl 38(5):58795894 13. Pan I, Das S, Gupta A (2011) Tuning of an optimal fuzzy PID controller with stochastic algorithms for networked control systems with random time delay. ISA Trans 50(1):2836 14. Jahedi G, Ardehali MM (2011) Genetic algorithm-based fuzzy-PID control methodologies for enhancement of energy efciency of a dynamic energy system. Energy Convers Manage 52(1):725732

Neural Comput & Applic (2013) 22:329336 15. Wu CJ, Ko CN, Fu YY et al (2009) A genetic-based design of auto-tuning fuzzy PID controllers. Int J Fuzzy Syst 11(1):4958 16. Chiou JS, Liu MT (2009) Numerical simulation for fuzzy-PID controllers and helping EP reproduction with PSO hybrid algorithm. Simulat Modell Practice Theory 17(10):15551565 17. Zong Woo G, Joong Hoon K, Loganathan GV (2001) A new heuristic optimization algorithm: harmony search. Simulation 76(2):6068 18. Alia OM, Mandava R (2011) The variants of the harmony search algorithm: an overview. Artif Intell Rev 36(1):4968 19. Jaberipour Majid, Khorram Esmaile (2010) Two improved harmony search algorithms for solving engineering optimization problems. Commun Nonlinear Sci Numer Simulat 15(11):3316 3331 20. Shayeghi H, Shayanfar HA, Jalili A (2006) Multi-stage fuzzy PID power system automatic generation controller in deregulated environments. Energy Convers Manage 47(1819):28292845

123