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# Derivative Effect on Control System
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# Improved Particle Swarm Optimization on PID Tuning
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This dir is belong to Control System class contains with Tuning PID with ZN1 and PSO on motor system.
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## Software
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@ -26,6 +26,53 @@ Variable above is the constant for PSO tuning.
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## Testing
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### ITAE Cost Function
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### Step Response
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### Ramp Response
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### Impulse Response
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### Acceleration Response
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## Results
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Elapsed time is 18.701024 seconds.
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### Before PSO-PID
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```
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RiseTime: 1.0161
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SettlingTime: 1.8471
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SettlingMin: 0.0819
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SettlingMax: 0.0907
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Overshoot: 0
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Undershoot: 0
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Peak: 0.0907
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PeakTime: 3.0168
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SSError: 0.9095
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```
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### After PSO-PID
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Kp = 853.3161
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Ki = 74.1078
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Kd = 2.4810e+03
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```
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RiseTime: 9.5287e-04
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SettlingTime: 0.0012
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SettlingMin: 0.9949
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SettlingMax: 0.9976
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Overshoot: 0
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Undershoot: 0
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Peak: 0.9976
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PeakTime: 0.0036
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SSError: 0.0024
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```
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### Notes
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Contact nanda.r.d@mail.ugm.ac.id for more information
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