DC motors are used in numerous industrial applications like servo systems and speed control applications. For such systems, the Proportional+Integral+Derivative (PID) controller is usually the controller of choice due to its ease of implementation, ruggedness, and easy tuning. All the classical methods for PID controller design and tuning provide initial workable values for , , and which are further manually fine-tuned for achieving desired performance. The manual fine tuning of the PID controller parameters is an arduous job which demands expertise and comprehensive knowledge of the domain. In this research work, some metaheuristic algorithms are explored for designing PID controller and a comprehensive comparison is made between these algorithms and classical techniques as well for the purpose of selecting the best technique for PID controller design and parameters tuning. 1. Introduction In this modern industrial age, there is hardly any industrial application in which DC motors are not being used [1, 2]. This is so because of ease of control, low cost maintenance especially of brushless DC motor type, low price, and ruggedness of DC motor over a wide range of applications. Some industrial applications, which are worth mentioning, in which DC motors are being used widely are machine tools, paper mills, textile industry, electric traction, and robotics. The flexibility in controller design of DC motors is due to the fact that armature winding and field winding could be controlled separately [3]. In most of the applications of speed control of DC motors, the current in field winding is kept constant and the current in armature winding is varied or vice versa which gives excellent speed control performance over a wide range of desired values. In these applications, the purpose is to track the speed command by keeping output speed at desired level and to achieve desire speed or position control in minimum time without having large overshoots and settling times [4, 5]. There are different types of controllers like lead, lag, LQR (linear quadratic regulator), PID, and sliding-mode control that could be incorporated in control applications [6–8]. Among the few mentioned types of controllers, PID controller is one of the earliest and best understood controllers which is incorporated in almost every industrial control application due to its efficiency and ease of implementation [9]. Although there are many classical techniques for designing and tuning PID controller parameters which are widely understood and easily applied, one of the main disadvantages of
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