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Journal of Applied Nonlinear Dynamics
Miguel A. F. Sanjuan (editor), Albert C.J. Luo (editor)
Miguel A. F. Sanjuan (editor)

Department of Physics, Universidad Rey Juan Carlos, 28933 Mostoles, Madrid, Spain


Albert C.J. Luo (editor)

Department of Mechanical and Industrial Engineering, Southern Illinois University Ed-wardsville, IL 62026-1805, USA

Fax: +1 618 650 2555 Email:

Practical Implementation of an Enhanced Nonlinear PID Controller Based on Harmony Search for One-Stage Servomechanism System

Journal of Applied Nonlinear Dynamics 9(2) (2020) 189--205 | DOI:10.5890/JAND.2020.06.003

Mohamed. A. Shamseldin$^{1}$, Mohamed Sallam$^{2}$, A.M. Bassiuny$^{2}$, A.M. Abdel Ghany$^{3}$

$^{1}$ Depart. of Mechatronics Eng., Future University in Egypt, Cairo, Egypt

$^{2}$ Department of Mechanical Eng., Helwan University, Cairo, Egypt

$^{3}$ Depart. of Electrical Eng., October 6 University (Helwan University Originally), Cairo, Egypt

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This paper presents a practical implementation for a new formula of nonlinear PID (NPID) control. The purpose of the controller is to accurately trace a preselected position reference of one stage servomechanism system. The possibility of developing a transfer function model for experimental setup is elusive because of the lack of system data. So, the identified model has been developed via gathering experimental input/output data. The performance of the enhanced nonlinear PID (NPID) controller had been investigated by comparing it with linear PID controller. The harmony search (HS) tuning system had built to determine the optimum parameters for each control technique based on an effective objective function. The experimental and simulation results proved that the enhanced nonlinear PID (NPID) controller has better performance and more robust compared to linear PID controller. Both the simulation and the experimental results are identical significantly.


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