Patent ID: 8805555

Claim:
A method for determining coefficients for a proportional—integral—derivative controller (PID controller), the method comprising the steps of: providing initial values of a coefficient candidate group for a PID controller, wherein said coefficient candidate group comprises coefficient candidates; providing an evaluation functional, wherein an unfalsified evaluation function is calculated from said evaluation functional; measuring an input and an output of a plant; selecting said coefficient candidates from said coefficient candidate group; calculating said evaluation functional using measured input and measured output for each of said coefficient candidates of said PID controller; removing a selected coefficient candidate if said evaluation functional is falsified as a result of a calculation of said evaluation functional; selecting new coefficient candidates as an update expression from remaining coefficient groups that have not been falsified, wherein said update expression is in the form of Particle Swarm Optimization (PSO) and an evaluation function value is used in selecting said new coefficient candidates; and repeating said steps of calculating and removing for each of said new coefficient candidates of an updated coefficient candidate group, wherein at least one of the steps is carried out using a computer device.