TRMS Experimental Results of New Nonlinear PID Tuned by DE Algorithm

TRMS is a nonlinear system which resembles a dynamic of a helicopter with a strong coupling effect between main and tail rotors. Generally speaking, the simplicity of the linear PID has tempted the control engineers to use it for controlling the nonlinear systems. However, the linear PID controller could not sufficiently handle these systems particularly in terms of producing a fast response with a small overshoot. Therefore, a new nonlinear PID based on the dynamic of biological cell membrane potentials has been proposed to alleviate the overshoot effect with insuring a small tracking error. The parameters of suggested controller have been tuned by using DE algorithm. The simulation and experimental results have illustrated the superior performance of proposed nonlinear controller compared to a linear PID.