International Conference on Electrical, Electronics, and Optimization Techniques (ICEEOT) - 2016
Implementation of Neural Network Based PID
Controller
Rosmin Jacob
Department of Electronics and Communication
Amrita School Of Engineering, Kollam
rosminjacob.ros@gmail.com
Abstract This paper proposes neural network based
Proportional-Integral-Derivative (PID) controller for the
purpose of position control in DC motor. The conventional PID
controller is used in industries for control operation. But, it is
difficult to regulate the parameters for the PID controller. An
artificial neural network can be used for tuning the PID
controller and is robust in design. The artificial neural network
based controller allows both type of systems i.e. linear and non-
linear systems by training the network. Simulation is
performed in MATLAB.
Keywords PID Controller,Artificial Neural Network,DC
motor
I. INTRODUCTION
Proportional Integral Derivative (PID) controllers are
most used controllers in the industrial control systems. A
neural network has to be configured such that the
application of a set of input produces the desired set of
outputs. An artificial neural network consist of a group of
simple processing units which communicate by sending
signals to each other over weighted connections. Proposed
.system have two main parts, they are a PID controller, used
for position control of a DC stepper motor and a Radial
Basis Function(RBF) neural network used for regulating
PID parameters Kp, Ki and Kd. Artificial Neural
.Networks(ANNs) is an information processing prototype
inspired by the brain works. The key element of this model
is the processing element .The network made up of large
number of interconnected processing elements.Fig.1 shows
schematic of proposed system.
Fig. 1. Schematic of neural network based PID controller.
978-1-4673-9939-5/16/$31.00 2016 IEEE
Senthil Murugan
Department of Electronics and communication
Amrita School Of Engineering, Kollam
senthilmurugan@am.amrita.edu
The interconnection in neural network is called a
synaptic connection and is associated with a weight which
indicates the strength of the connection. An artificial neural
network is configured for a specific application such as a
data classification or recognition by a learning process.
Learning process, involves adjustments to the synaptic
weights that exist between the neurons. The RBF neural
network is used for regulating the PID parameters
automatically; and it will shorten the time cost of designing
the controller and will increase the controllers adaptability
[1].
II. PROPORTIONAL-INTEGRAL-DERIVATIVE
(PID)CONTROLLER
PID controller composes of proportional, integral and
derivative control actions. A PID controller calculates and
corrects the error between the process output and the desired
setpoint that adjusts the process rapidly. Fig.2 depicts
schematic of the PID controller. The output of the controller
or the manipulated variable is obtained by adding
proportional P, integral I and derivative D components and
their associated coefficient [2].Equation (1) indicates
mathematical expression of the PID controller.

Fig. 2. Schematic of PID controller
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 It has been known that the PID control
performance is based on the value of PID parameters Kp,
Ki and Kd. The PID controller can have excellent
performance with proper parameters, otherwise the
controller cannot achieve desired control requirement [3].
Thus regulating the PID parameters properly is an important
task and the designed RBF network is able to tune Kp, Ki,
and Kd accurately in different situations.

III. NEURAL NETWORK CONTROLLER

Neural networks similar to the human brain in the

following two ways: initially, neural network acquires
knowledge through learning. Secondly, the data stored
within synaptic weights. The neural network consist of
junctions which are connected with links, are also called
processing units. For each junction a number is ordered, this
number is called the weight. The weights are used for the
long distance information storing in the neural network, the
learning process occurring with the appropriate modification
of weights [4]. These weights are modified so that the
network input/output behavior is in harmony with the
environment, which provide the input data.
In layered neural networks, the neurons are organized in
the form of layers. The neurons in a layer get inputs from
the previous layer and feed their output to the next layer.
These type of networks are called feed-forward networks
.Radial Basis function neural network (RBFNN) is a fully
connected feed-forward network with three different layers :
an input layer, a hidden layer and an output layer as shown
in Fig3.
A radial basis function (RBF) network is a feed- forward
artificial neural network consists of three layer and uses
radial basis function as activation functions. Fig.4 indicates
structure of neural network. The output of the network is a
linear combination of radial basis function of the inputs and
neuron parameters. Radial basis function networks have
many uses, such as function approximation, time series
prediction, classification, and system control. It has the
advantage of fast learning speed and is able to avoid the
problem of local minimum in system control field. Hence
the RBFNN is used for tuning the PID parameters in the
control strategy.
Fig. 4. Structure of neural network.
Some of the reasons for using neural networks is : they
can learn from historical patterns, i.e. so they may be use
as associative memories[5]. They present good
generalization results, i.e. it is possible to obtain appropriate
outputs from patterns different to the used in the training
stage. They can be used with incomplete data, because the
knowledge is distributed in the interconnection weights of
the network. They can build input-output maps from data
without known relation [6]. The computational
implementation of neural network is easy and there exist
many on-line and off-line learning algorithms, which can be
adapted to a particular problem.
IV. SIMULATION RESULTS
The value of the PID control parameters keeps being
modifying based on the control of the RBF neural network.
The neural network is able to automatically tune the kp, ki
and kd parameters to optimize the control performance until
the system enters the steady state. The simulation was
carried out using MATLAB software. Fig.5 indicates output
of RBF neural network.

Fig. 3. Layered feed-forward neural network. Fig. 5. Output of RBF neural network.

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The performance of PID controller is not more accurate and
it will produce error result, such as overshoot, undershoot
and steady state error etc.
Fig. 6. depicts the output performance of the ANN-PID
controller for a step input. At the beginning of the control
process the PID control output is used to ensure the system
output moving approaching the set-point value fast and
avoiding overshoot. Then the PID output settles at 0 because
the system is in the steady state and the steady state error is
0.
In Fig. 7.output response for a DC motor having a PID
controller based on neural network to the step input is
presented.
Fig. 6. Output of a PID controller with neural network.
Fig. 7. Simulation result for the proposed system.
V. CONCLUSION
In this paper we discussed the replacement of PID
controller in industrial application of DC motor position
control with ANN controller based on neural networks. The
method can be applied to industrial process control, and take
full advantage of both neural network and traditional
PID.ANN have better performance by reducing, steady state
error, maximum overshoot, rise time and settling time.
Acknowledgment
We wish to thank Almighty God who gave us the
opportunity to successfully complete this work. The authors
would like to express our sincere and heartfelt gratitude
towards Amrita Vishwa Vidyapeetham University,
Amritapuri Campus, Kerala for providing us support and
funding to carry out this project.
References
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Design and Simulation of Speed Control of DC Motor by Artificial
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