2012 UKSim-AMSS 6th European Modelling Symposium
Design and Tuning Approach of 3-DOF Emotion Intelligent PID(3-DOF-PID)
Controller
Dong Hwa Kim
Dept. of Electronic and Control Eng., Hanbat National University
16-1 San Duckmyong-Dong Yuseong-Gu
Daejon City, Korea
e-mail: koreahucare@gmail.com
Abstract—This paper suggests the 3-DOF PID Controller with
emotion function and tuning approach. The PID controller has
been widely used owing to its simplicity and robustness in
various systems. However, the classical PID controller cannot
both function such as set-point following and disturbance. To
recover, the 2-DOF (Two-Degree Of Freedom) controller with
a 2-DOF (Two-Degree Of Freedom) function controller which
has both set point-following function and disturbance-rejecting
function, at the same time has been suggested. On the other
hand, emotion function is an important role in human being.
However, many researchers have been dealing its structure
and modeling. Herein, this paper suggests novel 3-DOF-EI-PID
controller with emotion function(3-DOF-EI-PID: 3-Degree Of
Freedom-Emotion Intelligent-PID). Also, this paper suggests
tuning technique of the 3-DOF-EI-PID controller by immune
algorithm.
Keywords-3-DOF-EI-PID control; Emotion control; Immune
algorithm; PID control; 2-DOF PID control; Intelligent control;
Intelligent tuning.
I. INTRODUCTION
Emotion technology and PID controller is very useful one.
However, emotion technology has some difficulty for
implementation in actual system. But PID control has been
using from long time ago. The proportional-integral-
derivative (PID) controllers have been widely used owing to
their simple structure. In industrial applications, more than
90% of all control systems are PID type [1,2,3]. Also, owing
species typical reactions to environmental changes (Damasio,
1994; Sloman, 2003). So, the emotion technology should
study for coming technology. That is, emotion technology
will be used in various IT technology or design. Neural,
neuro-fuzzy and evolutionary system and their derivatives
followed later. Recently, biological information processing
systems such as human beings have many interesting
functions and are expected to provide various feasible ideas
to engineering fields [10]. Biological information such as
immune system in living organisms can be mainly classified
into the following four systems: brain nervous, genetic
system, endocrine system. Also, they are the important for
artificial intelligence. This paper suggests the scheme and
tuning approach of 3-DOF Emotion Intelligent PID
controller (3-DOF- EI-PID).
II. THE DESIGN OF 3-DOF EMOTION INTELLIGENT PID
CONTROLLER DESIGN (3-DOF- EI-PID)
This type of the 3-DOF-EI-PID controller has a combined
parameter for a 3-EI-DOF function as shown in Fig. 1 The
transfer functions between process value PV(s) and settling
value SV(s), and between process value PV(s) and
disturbance DV(s) are given in the following equations,
respectively:
PV ( s) Gd ( s)
GPVDV ( s)   (1)
DV ( s)  1 
1  K p 1  
Tis
 1  1    K p K d s 
to their popularity in the industrial world, several approaches  K p 1    
PV ( s) Ti s
1   Ti s
1 
Td s

for determining PID controller parameters have been GPVSV ( S )   SV (2)

SV ( s)  1 
developed for tuning [2,3,4,7,8,10]. These methods are 1  K p 1  
straight forward to apply since they provide simple tuning Ti s

formulae to determine the PID controller parameters. On the  K p K d s 

 
other hand, 2-DOF PID controller has been suggested for  1  T s 
GPVG 1 ( s)  d
G ( s)
(3)
recovering disturbance and set-point together [9-10] and its  1 
1

tuning approaches are also studied in many methods. On the 1  K p 1  


Ti s

other hand, it is very important to express human being mind

and many research results prove, which has an important role where, the filter transfer function is F (s)  1/ (1  Ti s) , the PI
to decision-making. [9] Therefore emotion is a popular topic controller transfer function is PI (s)  K p 1  1/ Ti s  , and the D
in AI research, but most of existing work focuses on the
controller transfer function is D(s)  K T s / (1  T s) . In
appraisal of emotions and mechanisms eliciting emotions p d d
[Plutchik, 1980; Lazarus, 1991; Frijda, 1986; Izard, 1993; equation (1), the numerator has a similar function to that of
Sloman, 2003]. Primary Emotions can rise by the external the conventional PID controller.
stimulus patterns. It can give an impact on enabling fast,

978-0-7695-4926-2/12 $26.00 © 2012 IEEE 70

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DOI 10.1109/EMS.2012.93
 Figure 2. Curve shape of transfer function G2(s)

Figure 1. Block diagram of the design principle of the 3-DOF PID

controller with a emotion function

That is, if the proportional gain K

p
goes to a greater value,
the efficiency of disturbance Gd is smaller. However,
Figure 3. Architecture of each function in emotion express.
equations (2) and (3), the process value PV(s) and the plant
G ( s) depend on the two degrees parameter  ,  ,  . The
1
proportional gain could also be affected by the parameter ¢,
 , and  given for the two degrees function. Since the
disturbance can be reduced by gains K p , Ti , and  the
Individual stimulations is expressed by exponentially,
where L is the lifetime and is a constant that could be
selected to suit the application.

process value PV and the plant G1(s) are effectively  E s  Enew

s

L    old  if Eold (t )  Enew (t )
s s

controlled by the two degrees parameter  ,  ,  . Then, a 3-  Rm  (5)

-  0(otherwise)
DOF-EI-PID controller can perform the two degrees of
function, completely. The result of this arrangement
distinguishes it from the conventional arrangement method. where is a positive constant and could be taken as unity.
Trigger level of emotion function depends on emotion
function. [Fig. 2]
III. EMOTION INTELLIGENT PID CONTROLLER (3-DOF-
Description For Emotion Engine EI-PID) TUNING BY IMMUNE NETWORK ALGORITHMS
Emotions in biological systems have been known to be
caused by imbalances in biochemical neurotransmitters and The coding of an antibody in an immune network is very
(hormonal) secretions. Our intended model for Emotion important because a well designed antibody coding can
Generation is based on the hormonal suppression/excitation increase the efficiency of the controller. As shown in Fig. 4,
dynamics in biological beings. It intends to emulate the there are three types antibodies in this paper: 1) antibody
similar dynamics. This paper has 7-segment as emotion type 1 is encoded to represent only  gain in the 3-DOF
function as Fig. 3. In each emotion segment, when the PID controller; 2) antibody type 2 is encoded to represent I
emotional intensity of function crosses a threshold it gets gain; 3) antibody is encoded to represent  gains. The value
excited and transmits messages that suppress or stimulate of the k locus of antibody type 1 shows  gain allocated to
other function activity. The signals can be either stimulate or
route 1.
suppress function onto whose territory they are sent. This
That is, the value of the first locus of antibody type 1
behavior is embedded a priori in the system. Emotional
means that  gain allocated to route 1 is obtained by 2 [11,
expression is stimulated and suppressed from other function
as the followings [17]: 12].

s
Eout (t  1)  Eold
s
(t  1)  Enew
s
(t ) (4a)
 2 1 0.5  0.2 0.1
/ new (t )   exp( L) (4b)
s
Eold

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  2 1 0.5  0.2 0.12 Llim
n
: limit speed in PID gain
Tuning algorithm is those emotional parameters do well in
 2 1 0.5  0.2 0.1 system.
[step 1] Initialization and recognition of antigen: The
Figure 4. Allocation structure of  ,  ,  gain in antibody.
On the other hand, the k locus of antibody 2 represents
 gain for tuning of the 2-DOF PID controller. Here, the
objective function can be written as follows.
 i   Ln  Lobject   f n
z
2
n (6)
n1
immune system recognizes the invasion of an antigen, which
corresponds to input data or disturbances in the optimization
problem.
[step 2] Product of antibody from memory cell: The immune
system produces the antibodies that were effective to kill the
antigen in the past. This is implemented by recalling a past
successful solution from memory cell.
[step 3] Calculation for searching a optimal solution.
[step 4] Differentiation of lymphocyte: The B - lymphocyte

 R I 
P cell, the antibody that matched the antigen, is dispersed to
Ln  i i ,n the memory cells in order to respond to the next invasion
i 1
quickly.
0 : Ln Llim it
[step 5] Stimulation and suppression of antibody: The
fn   n
expected value k of the stimulation of the antibody is given
1 : Otherwise
where, i : objective function by
: the number of processes for obtaining an optimal PID m
z !k
 (7)
gain k "
k
L : optimal level in process for selection of an optimal gain
n where " k is the concentration of the antibodies and is
object
L
n
: target optimal value in process for selection of an represented by
sum of antibodies with same affinity as m! k
optimal gain " k = "k  (8)
 : penalty constant sumof antibodies
f
n
: penalty function
[step 6] Stimulation of Antibody: To capture the unknown
P : the number of route for selection of an optimal gain antigen, new lymphocytes are produced in the bone marrow
R : gain level in route i in place of the antibody eliminated in step 5.
i
I
i, n
: subsidiary function

 ,QLWLDOYDOXH K p , Ki , Kd ,  ,  ,  , 

⁎Ⱂ
 
,0


K p , K i , K d ,    ,  
       B
69 1  T1 s
⁎Ⱂ 
   1  
1  T2 s  K p 1  
 *V
 B Ti s

⁎Ⱂ 
 ⁎Ⱂ
K p Td s
 
   1  Td s
  
⁎Ⱂ 
⁎Ⱂ


Figure 5. Immune based tuning of the 3-DOF-EI-PID controller with emotion function

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 IV. SIMULATION AND DISCUSSION
Table 1 the comparison of tuning results in 3-DOF-EI-PID
shows in Table 1. Table 1 expresses immune based tuning is
close to best solution. The mechanism of emotion function is
biologically very complicated. That is, when the emotional
intensity of a B-function crosses a threshold it gets excited
and transmits messages that suppress or stimulate other
segment activity.
V. CONCLUSIONS
The PID controller has been using in many areas. Also,
approach for achieving an optimal PID gain is wide and
various in many tools such as, Z-N, fuzzy, NN-fuzzy, GA etc.
The modified 2 - DOF PID controller is designed by
rearranging the 2 - degrees parameter to enable parameters of
controller to fit into the industrial areas. The emotion
function is an important role in human being decision-
making. Recently, that area is emerging technology. Herein,
this paper suggests approach for application emotion in
industrial control and the other IT technology. For this
purpose, we suggest an immune algorithm based tuning
method for the 3-DOF-EI-PID controller. Parameters P, I
and D encoded in antibody are randomly allocated during
selection processes to obtain an optimal gain for 3-DOF-EI-
PID controller. The suggested controller can also be
experimented for effectively in the system.

Figure 6. Simulated result with emotion function.
ACKNOWLEDGMENT
This research was supported by Basic Science Research
Program through the National Research Foundation of
Korea(NRF) funded by the Ministry of Education, Science
and Technology(2012R1A1A2042098).

TABLE I. TUNED GAIN BY IMMUNE NETWORK. REFERENCES

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