ga_pid.m

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% GA_PID.m

global Kp Ki Kd Y MDL Iter
global MIN_offset MUL_factor

% Initializing variables
obj_fcn='GA_fPID';
MDL='PID0413';IC=[];elite=1;
MIN_offset=10000; MUL_factor=1; Iter=0; bit_n=60;
popuSize = 30;   % Size of the swarm
gen_no = 30;    % Maximum number of iterations
ranges=[0 0 0;10000 100 100];
 % call GA
     [popu, popu_real, fcn_value, upper, average,...
     lower, BEST_popu, popuSize, gen_no, para, best_pi,...
     bit_n, xover_rate, mutate_rate]=...
 GA_genetic(obj_fcn, ranges, IC, elite, gen_no, popuSize,bit_n);
x=para;
%eval(MDL)
Kp=x(1);Ki=x(2);Kd=x(3);sim(MDL);
t=Y(:,1);in=Y(:,2);out=Y(:,3);
figure(2);subplot(211);plot(t,[in out]);hold on