Performance of the Optimal Nonlinear PID Controller for Position Control of Antenna Azimuth Position System

Abstract

This study presents the improvement in the performance of the Proportional-integralderivative (PID) controller for position control of antenna azimuth position system subjected to external disturbance. The design of the PID controller is developed by adding the arc tan function of error instead of the direct error in an integral part of the PID controller, yielding a Nonlinear PID controller (NPID). A Particle Swarm Optimization (PSO) is used in this study to tune the parameters of the PID and NPID controllers using the Root Mean Square Error (RMSE) cost function. The simulations have been accomplished under the MATLAB/Simulink environment. The simulation results show that a PSO-based NPID controller provides superior steady and transient state performance compared to a PSO-based PID controller. In addition, the effectiveness of the proposed controller is verified via numerical simulation compared to the performance of other controllers with and without external disturbance.