There are several methods available to tune a PID controller. These include the manual tuning method and heuristic methods like the Ziegler-Nichols method. The manual tuning method can be time-consuming and may require multiple iterations to find optimal values while the Ziegler-Nichols method often yields aggressive gains and large overshoot which means it is not suitable for certain applications.

Presented here is a gradient descent approach to PID controller optimization. We will optimize the control system of a car cruise control system subject to a step change in setpoint.

By controlling the pedal position, the controllerā€™s objective is to accelerate the car up to the velocity setpoint with minimum overshoot, settling time and steady-state error.

The car is subject to a driving force proportional to the pedal position. Rolling resistance and aerodynamic drag forces act in the opposite direction to the driving force. Pedal position is controlled by the PID controller and limited to within a range of -50% to 100%. When the pedal position is negative, the car is braking.

It is helpful to have a model of the system when tuning PID controller gains. This is so that we can simulate the system response. For this I have implemented a `Car`

class in Python:

`import numpy as np`class Car:

def __init__(self, mass, Crr, Cd, A, Fp):

self.mass = mass # [kg]

self.Crr = Crr # [-]

self.Cd = Cd # [-]

self.A = A # [m^2]

self.Fp = Fp # [N/%]

def get_acceleration(self, pedal, velocity):

# Constants

rho = 1.225 # [kg/m^3]

g = 9.81 # [m/s^2]

# Driving force

driving_force = self.Fp * pedal

# Rolling resistance force

rolling_resistance_force = self.Crr * (self.mass * g)

# Drag force

drag_force = 0.5 * rho * (velocity ** 2) * self.Cd * self.A

acceleration = (driving_force - rolling_resistance_force - drag_force) / self.mass

return acceleration

def simulate(self, nsteps, dt, velocity, setpoint, pid_controller):

pedal_s = np.zeros(nsteps)

velocity_s = np.zeros(nsteps)

time = np.zeros(nsteps)

velocity_s[0] = velocity

for i in range(nsteps - 1):

# Get pedal position [%]

pedal = pid_controller.compute(setpoint, velocity, dt)

pedal = np.clip(pedal, -50, 100)

pedal_s[i] = pedal

# Get acceleration

acceleration = self.get_acceleration(pedal, velocity)

# Get velocity

velocity = velocity_s[i] + acceleration * dt

velocity_s[i+1] = velocity

time[i+1] = time[i] + dt

return pedal_s, velocity_s, time

The`PIDController`

class is implemented as:

`class PIDController:`

def __init__(self, Kp, Ki, Kd):

self.Kp = Kp

self.Ki = Ki

self.Kd = Kd

self.error_sum = 0

self.last_error = 0def compute(self, setpoint, process_variable, dt):

error = setpoint - process_variable

# Proportional term

P = self.Kp * error

# Integral term

self.error_sum += error * dt

I = self.Ki * self.error_sum

# Derivative term

D = self.Kd * (error - self.last_error)

self.last_error = error

# PID output

output = P + I + D

return output

Taking this object-oriented programming approach makes it much easier to set up and run multiple simulations with different PID controller gains as we must do when running the gradient descent algorithm.

The`GradientDescent`

class is implemented as:

`class GradientDescent:`

def __init__(self, a, learning_rate, cost_function, a_min=None, a_max=None):

self.a = a

self.learning_rate = learning_rate

self.cost_function = cost_function

self.a_min = a_min

self.a_max = a_max

self.G = np.zeros([len(a), len(a)])

self.points = []

self.result = []def grad(self, a):

h = 0.0000001

a_h = a + (np.eye(len(a)) * h)

cost_function_at_a = self.cost_function(a)

grad = []

for i in range(0, len(a)):

grad.append((self.cost_function(a_h[i]) - cost_function_at_a) / h)

grad = np.array(grad)

return grad

def update_a(self, learning_rate, grad):

if len(grad) == 1:

grad = grad[0]

self.a -= (learning_rate * grad)

if (self.a_min is not None) or (self.a_min is not None):

self.a = np.clip(self.a, self.a_min, self.a_max)

def update_G(self, grad):

self.G += np.outer(grad,grad.T)

def execute(self, iterations):

for i in range(0, iterations):

self.points.append(list(self.a))

self.result.append(self.cost_function(self.a))

grad = self.grad(self.a)

self.update_a(self.learning_rate, grad)

def execute_adagrad(self, iterations):

for i in range(0, iterations):

self.points.append(list(self.a))

self.result.append(self.cost_function(self.a))

grad = self.grad(self.a)

self.update_G(grad)

learning_rate = self.learning_rate * np.diag(self.G)**(-0.5)

self.update_a(learning_rate, grad)

The algorithm is run for a specified number of iterations by calling `execute`

or `execute_adagrad`

. The `execute_adagrad`

method executes a modified form of gradient descent called AdaGrad (adaptive gradient descent).

AdaGrad has per-parameter learning rates that increase for sparse parameters and decrease for less sparse parameters. The learning rate is updated after each iteration based on a historical sum of the gradients squared.

We will use AdaGrad to optimize the PID controller gains for the car cruise control system. Using AdaGrad, the gradient descent update equation becomes:

Now we need to define our cost function. The cost function must take a vector of input parameters as input and return a single number; the cost. The objective of the car cruise control is to accelerate the car up to the velocity setpoint with minimum overshoot, settling time and steady-state error. There are many ways we could define the cost function based on this objective. Here we will define it as the integral of the error magnitude over time:

Since our cost function is an integral, we can visualize it as the area under the error magnitude curve. We expect to see the area under the curve reduce as we approach the global minimum. Programmatically, the cost function is defined as:

`def car_cost_function(a):`

# Car parameters

mass = 1000.0 # Mass of the car [kg]

Cd = 0.2 # Drag coefficient []

Crr = 0.02 # Rolling resistance []

A = 2.5 # Frontal area of the car [m^2]

Fp = 30 # Driving force per % pedal position [N/%]# PID controller parameters

Kp = a[0]

Ki = a[1]

Kd = a[2]

# Simulation parameters

dt = 0.1 # Time step

total_time = 60.0 # Total simulation time

nsteps = int(total_time / dt)

initial_velocity = 0.0 # Initial velocity of the car [m/s]

target_velocity = 20.0 # Target velocity of the car [m/s]

# Define Car and PIDController objects

car = Car(mass, Crr, Cd, A, Fp)

pid_controller = PIDController(Kp, Ki, Kd)

# Run simulation

pedal_s, velocity_s, time = car.simulate(nsteps, dt, initial_velocity, target_velocity, pid_controller)

# Calculate cost

cost = np.trapz(np.absolute(target_velocity - velocity_s), time)

return cost

The cost function includes the simulation parameters. The simulation is run for 60 seconds. During this time we observe the response of the system to a step change in setpoint from 0 m/s to 20 m/s. By integrating error magnitude over time, the cost is calculated for every iteration.

Now, all that is left to do is run the optimization. We will start with initial values of *Kp *= 5.0, *Ki *= 1.0 and *Kd *= 0.0. These values give a steady, oscillating response, with overshoot, that eventually converges to the setpoint. From this start point we will run the gradient descent algorithm for 500 iterations using a base learning rate of š¯›¾=0.1:

`a = np.array([5.0, 1.0, 0.0])`

gradient_descent = GradientDescent(a, 0.1, car_cost_function, a_min=[0,0,0])

gradient_descent.execute_adagrad(500)