Matlab Code of GWO Minimize Constrained Objective Function PID Controller

%% GWO minimize constrained objective function by Dr Endalew Ayenew
function out=fungwo(x)
y1=x(:,1);
y2=x(:,2);
fx= (2*sqrt(2).*y1+y2).*100;
% inequality constraints
g(:,1)=(2.*sqrt(2).*y1+y2)./(sqrt(2).*y1.^2+2.*y1.*y2)-2;
g(:,2)=(2.*y1)./(sqrt(2).*y1.^2+2.*y1.*y2)-2;
g(:,3)=(2./(y1+sqrt(2).*y2))-2;
pp=10^9; % penalty
for i=1:size(g:1)
j=1:size(g:2);
if g(i,j)>0
penalty(i,j)= pp+g(i,j);
else
penalty(i,j)=0;
end
end
%calculate objective function
out= fx+sum(penalty,2);
end
%% main program - Gwo code to find solution

format short
clear all
clc
%intializethe parameters
fun=@fungwo;
N=300;
var=2; % y1 &y2
lb=[0 0];
ub=[1 1];
itermax=100;
%generate initial position for the 1st iteration
for i=1:N
for j=1:var
pos(i,j)=lb(:,j)+rand.*(ub(:,j)-lb(:,j));
end
end
fcost=fun(pos);
[fminvalue,ind]=min(fcost);
gbest=pos(ind,:);
iter=1;
while iter<=itermax
Fgbest=fminvalue;
a=2*(1-iter/itermax);
for i=1:N
x=pos(i,:);
pos1=pos;
A1=2.*a.*rand(1,var)-a;
C1=2.*rand(1,var);
[alpha,alphaind]=min(fcost);
alphapos=pos1(alphaind,:);
Dalpha=abs(C1.*alphapos-x);
x1=alphapos-A1.*Dalpha;
pos1(alphaind,:)=[];
fcost1=fun(pos1);
%%find beta position
[bet,betind]=min(fcost1);
betpos=pos1(betind,:);
C2=2.*rand(1,var);
Dbet=abs(C2.*betpos-x);
x2=betpos-A2.*Dbet;
pos1(betind,:)=[];
fcost1=fun(pos1);
%% find delta postion
[delta,deltaind]=min(fcost1);
deltapos=pos1(deltaind,:);
C3=2.*rand(1,var);
Ddelta=abs(C3.*deltapos-x);
x3=deltapos-A3.*Ddelta;
Xnew=(x1+x2+x3)/3;
%% check bound
Xnew=max(Xnew,lb);
Xnew=min(Xnew,ub);
fnew=fun(Xnew);
%% fitness Evaluation and comparision
if fnew<fcost(i)
pos(i,:)=Xnew;
fcost(i,:)=fnew;
end
end
%update Gbest
[fmin,find]=min(fcost);
if fmin<Fgbest
Fgbest=fmin;
gbest=pos(find,:);
end
%%Memorize the best
[optval,otind]=min(fcost);
BestFx(iter)=optval;
Bestx(iter,:)=pos(otind,:);
%% show iteration information
disp(['iteration' num2str(iter) ',postion =' num2str(pos(otind,:))...
',Best Cost=' num2str(BestFx(iter))]);
%% plot cost fun
plot(BestFx,'LineWidth',2);
xlabel('iteration number');
ylabel('fitness value');
title('convergenceVs iteration')
grid on
iter=iter+1;
end % end of while
%% GWO tuned PID controller parameters by Dr Endalew Ayenew
clc; close all
% plant
n=[1 1];
d=[1 2 -3 1];
G=tf(n,d);
Gf = feedback(G,1);
step(Gf) % System step response with out controller
hold on
% GWO Parameters
iter=100; pop =60; var=3; a_gwo =2;
%Search space
al=0; au=1000; c_cf=0;
%GWO Initialization
for p =1:pop
for n=1:var
x(p,n)=al+rand*(au-al);
end
%Modelof pid controller parameters
kp=x(p,1);
ki=x(p,2);
kd=x(p,3);
% simulate model
Gc= pid(kp,ki,kd);
Gcf = feedback(Gc*G,1);
y= step(Gcf);
% ITAE (objective function)
ff1=0;
sim1=size(y);
for m1 = 1:sim1
ff1=ff1+((abs(y(m1)-1))*m1);
end
ITAE(p)=ff1;
end
% find best solution
[b_sol, b_loc]=min(ITAE);
best_ITAE=b_sol;
best_k=x(b_loc,:);
for tt=1:iter
a_gwo=2-((2*tt)/iter);
%find alph, beta,and delta
sol_cf=ITAE;
sol_var=x;
[b_sol1,loc1]=min(sol_cf);
alph_cf=b_sol1;
alph_var=sol_var(loc1,:);
sol_cf(loc1)=[];
sol_var(loc1,:)=[];
[b_sol1, loc1]=min(sol_cf);
beta_cf=b_sol1;
beta_var=sol_var(loc1,:);
sol_cf(loc1)=[];
sol_var(loc1,:)=[];
[b_sol1, loc1]=min(sol_cf);
delta_cf=b_sol1;
delta_var=sol_var(loc1,:);
c_cof=2*rand();
a_cof=a_gwo*((2*rand())-1);
for p=1:pop
for n=1:var
d_a=abs(c_cof*alph_var(n)-x(p,n));
xx1=alph_var(n)-(a_cof*d_a);
d_b=abs(c_cof*beta_var(n)-x(p,n));
xx2=beta_var(n)-(a_cof*d_b);
d_d=abs(c_cof*delta_var(n)-x(p,n));
xx3=delta_var(n)-(a_cof*d_d);
if x(p,n)>au
x(p,n)=au;
else
if x(p,n)<al
x(p,n)=al;
end
end
% Model parameters
kp=x(p,1);
ki=x(p,2);
kd=x(p,3);
% simulate model
Gc= pid(kp,ki,kd);
y= step(Gcf);
% ITAE (objective function)
ff1=0;
sim1=size(y);
for m1 = 1:sim1
ff1=ff1+((abs(y(m1)-1))*m1);
end
ITAE(p)=ff1;
end
%find the best solution

[b_sol, b_loc]=min(ITAE);
best2_ITAE=b_sol;
best2_k=x(b_loc,:);
if best2_ITAE<best_ITAE
best_ITAE=best2_ITAE;
best_k=best2_k;
end
c_cf=c_cf+1;
best_cf_go(c_cf)=best_ITAE;
end
end
Min_ITAE= best_ITAE;
kp=best_k(1,1);
ki=best_k(1,2);
kd=best_k(1,3);
Gc= pid(kp,ki,kd)
step(Gcf);

Matlab Code of GWO Minimize Constrained Objective Function PID Controller

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Matlab Code of GWO Minimize Constrained Objective Function PID Controller

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%% GWO minimize constrained objective function by Dr Endalew Ayenew

%% main program - Gwo code to find solution

%find the best solution

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