I. Introduction
Temperature regulation is very important to get optimal performance of a thermal system. If temperature is not regulated then it will affect its performance. So, Control of temperature regulation is required without large overshoot, steady state error and uncertainty. Since the structure of thermal control is nonlinear and unpredictable, so its control becomes very difficult [1]–[3]. Because of simple structure of proportional-integral-derivative (PID) controller it is widely preferred for temperature regulation in thermal system [4]–[6].