ga_ex33.asv

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% GA_ex33.m file
% [Kp Ki Kd] values for a PID control system

% PenChen Chou, 7-8-2001

%**********************************************************/
%       User can modify the following in blocks
%**********************************************************/
clear all
ans=1;
who
fprintf('>>>Start this program(GA_ex33.m) now. Please wait!\n');
pause(1)
global MIN_offset MUL_factor ROBUST Kp Ki Kd K a1 a2

MIN_offset=3000; % For finding MIN value
MUL_factor=1; 
ROBUST=1;
obj_fcn = 'GA_f33';	% Objective function
%          Kp    Ki   Kd    
range = [ 10   0.01  0.01  
          70   0.5   0.5 ];
IC=[]; elite=1; 
if ROBUST==0
    gen_no=10;
else    
    gen_no=20;
end;    
popuSize=20;bit_n=30;
xover_rate=0.9;mutate_rate=0.03;
%************************************************************
% call GA 
tic
%GA_genetic(obj_fcn, range, IC, elite,...
% gen_no, popuSize, bit_n, xover_rate, mutate_rate);
[popu, popu_real, fcn_value, upper, average, lower, ...
BEST_popu, popuSize, gen_no, para] = GA_genetic(obj_fcn, range,...
        IC, elite, gen_no, popuSize, bit_n,...
        xover_rate, mutate_rate);
t=toc/60;
fprintf('==>  Computation time is (%.2f) minutes.\n',t);            
            
% Load the optimal parameters
Kp=para(1); Ki=para(2); Kd=para(3);
% Simulation
K=10;a1=3;a2=2;Err_scale=2;
sim('ex33_pid',[0 4]); % see [tout and yout]