The conventional PID controller has been used at wide range since it is familiar and easy parameter tuning for field engineers. Although there are many tuning approaches for the conventional PID controller, the conventional PID controller has some limits. If the disturbance response is optimized, the set-point response is often found to be poor, and vice versa. For this reason, some of the classical researches on the optimal tuning of the PID controllers gave two tables : one for the 'disturbance optimal parameters' and the other for the 'set-point optimal parameters'.
The 2DOF PID controller can solve the problem of the conventional PID controller that the optimal tuning for the disturbance response and the one for the set-point response are not compatible in most cases of practical importance.
In the thesis, tuning rules of the 2DOF PID controller are proposed incorporating with RCGAs. A set of simulation and experimentation works are carried out on three high order processes with time delay and a stabilized pedestal with direct drive servo-motors to verify the effectiveness of the proposed rules.