Online Tuning of PID Controller for Linear SISO System with Random Communication Delay by Using Genetic Algorithms

In this paper we propose a control strategy for linear SISO systems in the presence of random communication delay. We have included the communication delay in the process model. This control strategy makes use of the several process models and based on the differences between each of them and real process, the PID controller is tuned. The tuning is made online, while the system is operational and for this are used the genetic algorithms. Simulation and implementation results are presented. The results show great performance improvement when the online tuning of the PID controller is used. The authors present the implementation for an axis of a 3D crane and using the Ethernet communication network.