Heuristic Optimization applied on DMC

and Cascade PI Controllers Tuning for

Speed Control of DC Motor ?
Douglas F. de Carvalho , Cleber A. Ganzaroli ,
Rafael N. H. M. Dias , Luiz A. Couto ,
Wesley P. Calixto ,

Experimental and Technological Research and Study Group (NExT),

Federal Institute of Goi
as (IFG), GO 74055-110 BRA (e-mail:
douglasfcx@gmail.com,w.p.calixto@ieee.org,cleber.ganzaroli@ifgoiano.edu.br)

Electrical, Mechanical and Computers Engineering School (EMC),

Federal University of Goi
as (UFG), Campus Goinia, 74605-010 BRA
(e-mail: rafaelnhmdd@hotmail.com, luizacouto@gmail.com)
Abstract: This article presents a comparative study between the DMC controller and the
cascade PI controller, both optimized heuristically, applied to the speed control of a DC motor.
Being the Dynamic Matrix Control (DMC) a popular technique of predictive control and the
cascade Proportional-Integral (PI) control a classic control technique widely used and well known
in the literature is suggest a comparison between the controllers. In the research for controllers
with high performance implements to optimize the parameters of the controllers by the heuristic
method of Genetic Algorithms (GA) in order to obtain optimal values for the proportional and
integral gains in the PI cascade controller and obtaining optimal values for prediction horizon,
control horizon and reference damping ratio in the DMC controller. The analysis of controllers
is through the implementation, in simulations, with both controllers applied to the speed control
of a Direct Current (DC) machine.
Keywords: Optimization, Genetic algorithms, Predictive control, Cascade PI control, DC
motors.
1. INTRODUCTION
Control systems techniques are implemented to varying
types of systems, through this control seeks to promote the
proper implementation of a system, generally, controlling
input variables to obtain desired values for system output
variables [Nise (2007)]. The use of direct current (DC)
motors implies, often, the need for its control speed. The
DC motor can be used in various situations, ranging from
residential applications up purposes on an industrial scale,
being the appropriate control of speed of DC motor able
to promote a good execution of processes.
Model Predictive Control (MPC) are a class of control
algorithms that seek optimum control signal, minimizing
(or maximizing) an objective function, based on a process model. By calculating actions series of manipulated
variables the MPC seek, generally, that the system output reaches its reference trajectory. The MPC have been
developed seeking to solve process control problems in
the industrial environment, particularly in the oil industry, which initially proposed by Richalet [Richalet et al.
? Paper submitted on December 1st , 2015. The authors would
like to thank the National Counsel of Technological and Scientific
Development (CNPq), the Research Support Foundation for the
State of Goi
as (FAPEG) and the Coordination for the Improvement
of Higher Education Personnel (CAPES) for financial assistance to
this research.

(1978)] (Model Predictive Heuristic Control - 1978) and

cutler1980dynamic and Remaker [Cutler and Ramaker
(1980)] ( Dynamic Matrix Control - 1980). Since then the
MPC are employed in various areas being widely accepted
by the academic and industrial environment due to the
applicability of the MPC and the good results obtained;
being the MPC applicable to various systems: multivariable, nonlinear, with a high dead time, with restrictions of
variables, among others; showing good performance and
robustness.
Dynamic Matrix Control (DMC) is arguably the most
popular MPC algorithm, widely used for the control of
chemical processes and with good results in several other
applications. Largely wide application of DMC occurs because the intuitive use of a finite model of step response of
the system to be controlled, the viability of the minimization of a quadratic objective function providing obtaining
optimal values to manipulated variables and due to applicability of DMC technique to systems with transport
delays, no minimum phase systems, multivariable systems,
systems with restrictions, among others [Camacho and
Alba (2013)].
Proportional-Integral-Derivative (PID) control is known
to be the most studied and implemented controller, with
high strength, simple implementation and good performance in various systems, but with significant restrictions

[Knospe (2006)]. The configuration of the cascade PID

controller is a widespread variation of the classic PID
control, resulting in a more robust controller. The cascade
control is commonly used with DC motors, in these situations, the control system consists of two PI controllers,
the first is used in the outer loop (responsible for speed
control) and the second on the inner loop (responsible for
controlling armour current) [Ganzaroli (2015)].
Given the complexity of some problems, and the seek for
effective and robust controllers the controllers optimization is presented as interesting proposal. Optimization
refers to the study of problems which seeks to minimize
or maximize a function by systematically select values of
the variables of the problem. In the case of controllers
optimization, generally, seeks to reduce the error existing
between the reference proposed and the output of the
controlled system by choosing of values of the optimizable
controller variables [Calixto et al. (2014)].

(s)
La s Ra
=
2
TL (s)
s + ( + )s + + Kt Kb

(2)

where: = La J, = La B, = Ra J e = Ra B.
To perform the simulation, real parameters obtained from
a commercial motor was used. These parameters are shown
in Tab. 1.
Table 1. DC motor parameters.
J = 0.032000167 Kgm
B = 0.0022069 N ms/rad
Kt = 1.073 N m/A
Va = 230 V

La = 0.027089 H
Ra = 6.898
Kb = 1.073 V /rad/s
Ip = 33.38 A

Applying the DC motor parameters obtained in (1), it

becomes possible to verify that the system has two real
and distinct poles. Then, it is expected that the system
response to an input of the step type, is the over-dumped
type as shown in Fig. 2.

2. METHODOLOGY
2.1 Modeling and simulation of DC motors
The DC motor has mathematical models known in the literature, such as Chapman (2005) et. al. Generally, models
are composed of two parts: the electrical and mechanical. In addressing the electrical part, the parameters are
resistance (Ra ) and inductance (La ) of armor. Since the
equation of mechanics, we have the moment of inertia
(J) and the viscous friction coefficient (B). The relation
between the two parties is realized through constant torque
(Kt ) and back EMF (Kb ). The mathematical model of the
DC motor can be represented in the frequency domain by
means of the block diagram of Fig. 1.
Fig. 2. Resposta ao degrau unitrio.
The existing variation in instant t = 10 s is caused due to
load torque insert with value of TL = 2 N m.
2.2 Cascade PI Controller
One way to greatly improve the dynamic response to
disturbances is by using cascade controllers. This type of
control is particularly useful when disorders are associated
with the manipulated variable.

Fig. 1. Block diagram of DC motor

Based on the diagram shown in Fig. 1 and theory reduction

multiple systems, it is possible to obtain two transfer
functions: i) speed against voltage armor Va , given by
(1); ii) speed in relation to the load torque TL , given by
(2).
(s)
Kt
=
Va (s)
s2 + ( + )s + + Kt Kb

(1)

The control system used consists of an internal loop to the

armature current and an outer loop for speed. The output
of the speed controller serves as input (reference) to the
current controller, featuring the cascade control.
The parameters of the cascade PI controller: Kp w (Proportional gain of the speed controller), Ki w (Integral gain
of the speed controller), Kp i (Proportional gain of the
armature current controller) and Ki i (Integral gain of
the armature current controller), have been optimized by
implementing of heuristic optimization technique (Genetic
Algorithm).

the error existing between the DC motor speed and the

desired reference speed. It implements for this purpose a
heuristic optimization method: Genetic Algorithm (GA).

Fig. 3. Block diagram of the system with cascade PI

controller.
2.3 Dynamic Matrix Control
Adding restrictions of the system to be controlled in the
control law, the viability of control over systems with
transport delay, nonlinear, among other features, make
the DMC an enabling controller to implement the speed
control of a DC motor. The DMC uses the step response
model to calculate possible speed outputs of the DC
motor to obtain a optimal value to be implemented in the
manipulated variable, ie, the DC motor armature voltage,
aiming to reach an actual speed desired to be developed
by the motor. The Fig. 4 illustrates the configuration of a
MPC algorithm.

The GA are heuristic methods of random search inspired

by concepts of evolutionary biology as natural selection,
heredity, recombination and mutation. The GA implement
a blind pursuit of optimized solutions and does not have
specific knowledge of the problem to be solved. The
strategy of the GA does not act directly on the problem
domain, but on the representation of its parameters,
seeking an optimal candidate, providing control over the
search toward the great eligible through an evaluation
component of the problem.
Given the fact that the optimization methods seek to minimize a defined evaluation function Calixto et al. (2014)
if there are no limits voltage and armature current, such
methods can produce results that will bring engine damage. Eliminating this risk, some penalties were imposed in
the evaluation function, ie, was given fixed ceiling voltage
and armature current, Va = Vn = 230 V e Ia = Ip =
33.38 A.
The genetic algorithm implemented uses as part of the
evaluation function the IAE (Integral of the Absolute
magnitude of the Error) speed. Full evaluation function
is given by:
f (x) = IAE ( + )

(3)

where: = Imax Ip e = Vmax Vn ; para > 0 e > 0.

Penalties inserted into the evaluation function condition
the DC motor work in its operating range ensuring the
safety and smooth operation of the machine.
The optimization using a genetic algorithm was performed
for both to the Cascade PI controller as to the DMC
differing by optimizable variables.
3. RESULTS
3.1 Controller Optimization
Fig. 4. Block diagram of the system with MPC.
Peak current constraints the (Ip [A]) and rated voltage of
equipment (VN ) aim to ensure the proper functioning of
the DC motor, the non-compliance of these restrictions
bad cause engine operation and may cause irreversible
damage to the machine . The inclusion of such restrictions
in the DMC control law enables the control operates
safely near these limits providing improved speed control
performance.
The parameters of the DMC controller: R (prediction
horizon), L (control horizon) and (damping rate of the
reference signal), have been optimized by implementing
heuristic optimization technique (Genetic Algorithm) to
optimize the DC motor speed control reducing IAE
(Integral of Absolute Error).
2.4 Controller Optimization - Genetic Algorithm
The optimization proposed in this text aim, by choosing
of values of the optimizable variable of controllers, reduce

The optimization of both controllers using the heuristic

techniques of genetic algorithms resulted in improved performance, with the performance measurement parameter
the integral of the absolute speed error (IAE). The
genetic algorithm method was implemented starting with
initial stochastic parameters with values restricted, respecting the characteristics of each controller. In the case
of the cascade PI controller the optimizable parameters, ie,
the controller gains, Kp w, Ki w, Kp i and Ki i, are restricted
to positive real values, making it impossible to implement
negative earnings for PID controllers. In the case of DMC
the optimizable parameters controller, ie, R, G and must
satisfy the specification restrictions of MPC controllers,
being the prediction horizon (R) a positive integer value,
less or equal to the model horizon (N ); control horizon
(L) a positive integer value less or equal to the prediction
horizon (R) and being the damping rate a real value
between 0 and 1. These restrictions are related to the optimization process, representing constructive restrictions of
control technique and having no relation to the highlighted
restriction in the system to be controlled.

The genetic algorithm was implemented with an initial

population of 20 individuals with stochastic values. The
mutation and crossover rates are defined from a linear
variation where the mutation rate is 30% in the initial generation and 90% in the final generation and the crossover
rate of 90% in the initial generation and 30% in the final
generation. The selection method used was the tournament. The maximum number of generation (Gmax) was
set at 100 generations.
The use of both controllers using the heuristic techniques
of genetic algorithms has allowed the improvement of
the performance of the controller response time and also
the cancellation of the steady-state error. From the implementation of the optimized values in both controllers
and respecting the controller configuration constraints and
operating constraints of the integral system of absolute
error was significantly reduced by increasing the control
efficiency of the speed of the DC motor.
Table 2 forth, for the cascade PI and DMC controllers,
the optimal gains obtained and the integral absolute error,
being implemented the controllers with optimized gains
to control the DC motor speed, considering the set-point
100 rad/s and inserted at time t = 10s a load torque with
a value of 2 N m.
Table 2. Optimized Cascade PI and DMC
Controllers

Kp

Ki

Kpi

Kii

f ()

1.16051

1.20033

1.76532

5.74838

26.81014

f ()

0.05

0.03221

12.06241

Fig. 5. Speed control of DC Motor By Cascade PI Controller

to obtain optimal controller gains resulting in the reduction of the integral of the absolute speed error (IAE ).
Optimized gains R = 9, L = 1 e = 0.03221, obtained
considering the set-point at 100 rad/s and inserting at
time t = 10s a load torque of 2 N m, provided a
IAE = 12.06241 rad/s.
The Fig. 6 presents the dynamics of the process, detailing
the speed ( [rad/s]), the armature current (Ia [A])
and the armature voltage (Va [V ]) of the DC motor,
considering the set-point at 100 rad/s and inserting at
the instant t = 10 s a load torque with a value of 2 N m.

3.2 Study case: Cascade PI controller applied to Speed

Control of DC Motor
Optimization of cascade PI controller previously performed by implementing the genetic algorithms techniques
provided to obtain optimal controller gains resulting in
the reduction of the integral of the absolute speed error (IAE ). Optimized gains Kp w = 1.16051 V s/rad,
Ki w = 1.20033 V s/rad, Kp i = 1.76532 As/rad, Ki i =
5.74838 As/rad, obtained considering the set-point at
100 rad/s and inserting at time t = 10s a load torque
of 2 N m, provided a IAE = 26.81014 rad/s.
The Fig. 5 presents the dynamics of the process, detailing
the speed ( [rad/s]), the armature current (Ia [A])
and the armature voltage (Va [V ]) of the DC motor,
considering the set-point at 100 rad/s and inserting at
the instant t = 10 s a load torque with a value of 2 N m.
Note that the optimization of the PI cascade controller
and system linearity characteristics resulted in good performance of PI cascade controller applied to the DC motor
speed control.

Fig. 6. Speed control of DC Motor By DMC Controller

Note that the optimization of DMC controller and the
restricted variables controller characteristics result in good
performance of the DMC applied to DC motor speed
control.
4. CONCLUSION

3.3 Study case: DMC controller applied to Speed Control

of DC Motor

This article introduces the application of two control

techniques widely accepted in academic and industrial
means, the classic PID control implemented in an IP
configuration cascade, and the DMC predictive control
with constraints, presenting a comparison between the two
implementations.

Optimization of DMC controller previously performed by

implementing the genetic algorithms techniques provided

It was performed to further optimize both controllers

parameters, using the heuristic optimization technique of
genetic algorithms.

Given the results presented it was the best performance

of the DMC front of the PI cascade for DC motor speed
control.
It is evident that the parameters optimization through
the implementation of the genetic algorithm technique
in both controllers provided a significant improvement in
performance, extinguishing in part the need for thorough
knowledge of the system that is intended to automate.
Finally, conclude that the implementation of DMC controller combined with the optimization parameters through
the heuristic optimizer using genetic algorithm results in
an approach that shows promising results, enabling optimized DMC controller to be implemented in systems where
search is a control with high performance .
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