ga_ex372.m

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% GA_ex372.m file
% [Kp Ki Kd] values for a PID control system

% PenChen Chou, Aug. 17, 2001

%**********************************************************/
%       User can modify the following in blocks
%**********************************************************/
clear all
ans=1;
who
fprintf('>>>Start this program now. Please wait!\n');
pause(1)
global MIN_offset MUL_factor ROBUST Kp Ki Kd K a1 a2 MDL FT Emin
global ERR1 ERR2 ERR3 ERR4 ERR5 MAIN_loop Ts Tc L1 L2 K1 K2


ROBUST=0; 
moto_data1;
if ROBUST==0,
    Emin=5e5;
    MIN_offset=Emin; % For finding MIN value
else
    Emin=1e6;
    MIN_offset=5e4;
end;    
MUL_factor=1; MAIN_loop=0;
MDL='motorolb'; FT=0.5; %eval(MDL);
K=17661.1;a1=29.73;a2=21.033;
obj_fcn = 'GA_f372';	% Objective function
%          Kp    Ki   Kd     L1  L2 
range = [ 0.05 0.01  0.0001 10  10
          4.5   15       0.01 200 200];
IC=[]; elite=1; 
if ROBUST==0
    gen_no=66; gen_no=20;
else    
    gen_no=20;
end;    
popuSize=28;
bit_n=30;
xover_rate=0.9;
mutate_rate=0.04;
%************************************************************
% call GA written by Chang
tic
[popu, popu_real, fcn_value, upper, average, lower, ...
BEST_popu, popuSize, gen_no, para, best_pi] =...
        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);            

% Final result
Kp=GA_round4dp(para(1));
Ki=GA_round4dp(para(2));
Kd=GA_round4dp(para(3));
L1=GA_round4dp(para(4));
L2=GA_round4dp(para(5));
MAIN_loop=1;
ERR1=0;ERR2=0;ERR3=0;ERR4=0;ERR5=0;
collecta_errors;