| Summary: | In the modern optimization context, this paper introduces an optimal PID-based control strategy for a two-tank installation, namely ASTANK2. The process model was identified by using raw and spline smoothed measured data, respectively. Two PID controller configurations, a standard (regular) one (PID-R) and a non-standard one (PID-N), were considered for each type of model, resulting in four regulators. The optimal tuning parameters of each regulator were obtained by a searching approach relying on a combination of two metaheuristics. Firstly, an improved version of the Hill Climbing algorithm was employed to comprehensively explore the searching space, aiming to find fairly accurate tuning parameters. Secondly, an improved version of the Firefly Algorithm was proposed to intensively refine the search around the previously found optimal parameters. A comparative analysis between the four controllers was achieved in terms of performance and robustness. The simulation results showed that all optimal controllers yielded good performance in the presence of exogenous stochastic noise (bounded error tracking, setpoint tracking, reduced overshoot, short settling time). Robustness analysis is extensive and illustrates that the PID-R controllers are more robust to model uncertainties, whilst PID-N controllers are more robust to tracking staircase type references.
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