Optimization-Based PID Controller Design for Servo Systems with Performance and Actuator Constraints

Abstract

This paper presents an optimization-based framework for designing PID controllers for servo systems, explicitly addressing performance criteria such as overshoot, rise time, settling time, and steady-state error while incorporating actuator constraints. Traditional PID tuning methods often fail to systematically account for physical limitations, such as voltage saturation, leading to suboptimal or unstable control. To overcome this limitation, we propose a Differential Evolution (DE) optimization approach, which is particularly well-suited for non-convex problems. The DE algorithm automates the tuning process by formulating an objective function that penalizes deviations from desired performance metrics while enforcing constraints on actuator limits and system stability. Simulation results demonstrate the effectiveness of the optimized PID gains in achieving precise control under challenging conditions, including aggressive performance requirements, reduced actuator voltage limits, and dynamic reference signals. The robustness and reliability of the proposed method are validated across multiple scenarios, showcasing its adaptability to varying operating conditions. This systematic and practical solution offers significant value for industrial practitioners and academic researchers seeking to achieve safe and reliable control of servo systems.