Merge branch 'main' of https://github.com/nandard/control-system

Assignment 6 - Tuning PID/README.md

@@ -1,4 +1,4 @@
-# Derivative Effect on Control System
+# Improved Particle Swarm Optimization on PID Tuning
 This dir is belong to Control System class contains with Tuning PID with ZN1 and PSO on motor system.
 
 ## Software
@@ -26,6 +26,53 @@ Variable above is the constant for PSO tuning.
 
 
 ## Testing 
+### ITAE Cost Function
+![itae](https://user-images.githubusercontent.com/77116615/191751929-89ff2f77-7e1a-45a4-b535-f8f3a768ecc6.png)
+
+### Step Response
+![step](https://user-images.githubusercontent.com/77116615/191751960-eee905b9-e450-41de-8824-f2157e431238.png)
+
+### Ramp Response
+![ramp](https://user-images.githubusercontent.com/77116615/191752006-63e2fe9b-69ad-48eb-881d-7adb2b630819.png)
+
+### Impulse Response
+![impulse](https://user-images.githubusercontent.com/77116615/191752036-5e05bfd7-9448-437e-ada6-16d9744b1b89.png)
+
+### Acceleration Response
+![acceleration](https://user-images.githubusercontent.com/77116615/191752086-4f392de0-202b-429c-adc9-0935d10275b5.png)
+
+## Results
+Elapsed time is 18.701024 seconds.
+
+### Before PSO-PID
+```
+        RiseTime: 1.0161
+    SettlingTime: 1.8471
+     SettlingMin: 0.0819
+     SettlingMax: 0.0907
+       Overshoot: 0
+      Undershoot: 0
+            Peak: 0.0907
+        PeakTime: 3.0168
+         SSError: 0.9095
+```
+### After PSO-PID
+Kp = 853.3161
+
+Ki = 74.1078
+
+Kd = 2.4810e+03
+```
+        RiseTime: 9.5287e-04
+    SettlingTime: 0.0012
+     SettlingMin: 0.9949
+     SettlingMax: 0.9976
+       Overshoot: 0
+      Undershoot: 0
+            Peak: 0.9976
+        PeakTime: 0.0036
+         SSError: 0.0024
+```
 
 ### Notes
 Contact nanda.r.d@mail.ugm.ac.id for more information