pid_obfun_mse.m

-PID controller has been extensively used in the industrial world. But in this controller it is dif

function [x_pop,fx_val] = PID_obfun_MSE(x_pop,options)
global Ball_Hoop
Kp = x_pop(2);
Ki = x_pop(3);
Kd = x_pop(1);
pid_den = [1 0];
pid_num = [Kd Kp Ki];
pid_sys = tf(pid_num,pid_den);