International Journal of Power Electronics and Drive Systems (IJPEDS)

Vol. 15, No. 3, September 2024, pp. 1951~1958

ISSN: 2088-8694, DOI: 10.11591/ijpeds.v15.i3.pp1951-1958  1951

Optimal fuzzy controller for speed control of DC drive using

salp swarm algorithm

Deepa Somasundaram1, Sasikala Arumugham2, Puviarasi Ramalingam3, Kirubakaran Dhandapani4,

Kalaivani Ramaiyan5
1
Department of Electrical and Electronics Engineering, Panimalar Engineering College, Tamilnadu, India
2
Department of Electrical and Electronics Engineering, Sri Sairam institute of technology, Tamilnadu, India
3
Department of Electronics and Communication Engineering, Saveetha School of Engineering, Tamilnadu, India
4
Department of Electrical and Electronics Engineering, St. Joseph's Institute of Technology, Tamilnadu, India
5
Department of Electrical and Electronics Engineering, Rajalakshmi Engineering College, Tamilnadu, India

Article Info ABSTRACT

Article history: The inherent non-linearity of the system being investigated highlights the
limitations of traditional proportional integral or PI tuning approaches.
Received May 29, 2023 Consequently, the primary objective of this study is to construct and refine
Revised Jan 29, 2024 the PI controller by leveraging the salp swarm algorithm, aiming to enhance
Accepted Feb 15, 2024 the performance of the DC drive output. Through the application of the salp
swarm algorithm, the fuzzy PI controller undergoes dynamic online
modifications, leading to optimal results. The controller's superior
Keywords: performance is achieved by employing an optimization approach to identify
the optimal set of solutions for the Fuzzy PI parameters. Rigorous
Bacterial foraging optimization simulations are conducted to comprehensively evaluate the proposed salp
DC drives swarm algorithm technique, assessing its viability and efficacy in real-world.
Fuzzy controller Thorough simulations assess the viability of the salp swarm algorithm,
Integral time absolute error evaluating its effectiveness in real-world applications. The study
PI controller demonstrates the methodology's reliability through comparative analyses of
Quasi- z source converter DC/DC converters against alternative methods. In non-linear systems like
Salp swarm algorithm the DC drive, innovative optimization strategies are shown to significantly
boost PI controller performance. The findings offer valuable insights for
advanced control system design.
This is an open access article under the CC BY-SA license.

Corresponding Author:
Deepa Somasundaram
Department of Electrical and Electronics Engineering, Panimalar Engineering College
Chennai, India
Email: dee_soms123@yahoo.co.in

1. INTRODUCTION
Control systems find extensive applications in various fields, such as information technology,
industrial processes, and home appliances. As system complexities grow, characterized by nonlinearities,
operating limits, time delays, and uncertainties, the need for more sophisticated control systems
intensifies [1], [2]. Fuzzy controllers have gained significant interest in motion control systems due to their
ability to handle nonlinear features and adapt to imprecise models. Artificial intelligence (AI) methods,
particularly in fuzzy proportional integral (PI) tuning, are increasingly popular, promising advancements in
performance and effectiveness across control systems [3]-[5].
Cutting-edge computational intelligence-based methods, such as genetic algorithm (GA) and particle
swarm optimization (PSO), offer solutions to the fuzzy PI tuning problem [6]. GA, rooted in evolutionary
biology, is known for approximating solutions to challenging optimization problems, making it a preferred

Journal homepage: http://ijpeds.iaescore.com

1952  ISSN: 2088-8694

choice in computer science and engineering [7]-[9]. Its adaptability and scalability, along with the capacity to
handle nonlinearities and uncertainties, make GA an effective tool for optimizing control system issues.
Leveraging the advantages of GA and PSO enables researchers and engineers to enhance the performance and
stability of fuzzy PI controllers, pushing the boundaries of control and optimization methods [10], [11].
The introduction of a genetic fuzzy (GF) algorithm-based controller for Quasi-Resonant converters
in drive applications brings various benefits, such as minimizing transient speed response, reducing switching
stresses, and minimizing losses, especially within limited bandwidth ranges [12]. However, challenges
include diminishing optimum stability with increasing convergent speed and the difficulty of managing
dynamic datasets. Despite the strengths of GA, simpler algorithms may outperform it for specific
optimization problems within the same computation time [13]-[17]. In the pursuit of more effective control
solutions, this paper explores the utilization of the salp swarm algorithm for fuzzy controller parameter
tuning in DC drives powered by DC/DC converters. The objectives are: i) Develop and refine a fuzzy PI
controller for DC drives using the salp swarm algorithm; ii) Enable dynamic online modifications of the
fuzzy PI controller to enhance DC drive output performance; iii) Evaluate the proposed salp swarm algorithm
through rigorous simulations for real-world applicability; and iv) Compare the salp swarm algorithm's
effectiveness in fuzzy PI tuning bacterial foraging algorithm.
The advantages of incorporating the salp swarm algorithm lie in its ability to efficiently handle
complex optimization problems, offering improved convergence and effectiveness compared to traditional
methods. This novel approach promises to advance the field of control systems by providing a robust and
efficient technique for optimizing Fuzzy controller parameters in the context of DC drives.

2. PROBLEM FORMULATION
The goal of the ongoing research is to optimize the DC drive speed controller's parameters for
minimal overshoot and reduced steady-state error, which are essential for high-performance applications
[18]-[21]. The controller parameters must be changed in order to maintain desired performance because the
plant transfer function varies with operating conditions. The system consists of two fuzzy PI type controllers,
one for inner loop current control and the other for outer loop speed control [22]-[25]. Finding the ideal fuzzy
PI controller parameters to reduce performance criteria is the goal. The objective function, which describes
the performance of the fuzzy PI control system is defined in (1), uses key performance indicators of transient
responsiveness.
∞
𝑀𝑖𝑛𝑖𝑚𝑖𝑧𝑒 = 𝐹 = {∫0 𝑡|𝑒(𝑡)|𝑑𝑡 + 𝑂𝑆 + 𝑡𝑠 + 𝑡𝑟 } (1)

The first term in the equation is the integral of time multiplied by integral time absolute error or
ITAE, the second term is overshoot, the third term is settling time, and the last term is rise time. The fitness
function is the inverse of the performance indices. We used the discrete form of ITAE in this paper. ITAE are
considered performance indices, and the fitness function indicated by J can be defined as (2).
𝟏
𝑱= (2)
(𝟏𝟎𝟎+ ∑𝑵
𝑲=𝟏|𝝎𝒓𝒆𝒇 −𝝎𝒎 |)

To improve the performance of a PID-controlled system, the PID gains are changed to minimize a
specific performance index. The performance index is determined over a time interval; T, which is typically
in the neighborhood of 0 ≤ T ≤ ts where ts is the system's settling time. The performance indices utilized were
stated as integral of time multiplied by absolute error (ITAE) and described as (3).
𝑇
𝐼𝑇𝐴𝐸 = ∫0 𝑡|𝑒 (𝑡)|𝑑𝑡
(3)

To identify the ideal fuzzy controller, salp swarm algorithm is used. In both methods, the
populations are initialized within their bounds and the necessary parameters, such as speed error, change in
speed error, and control outputs, are initialized in order to optimize the input scaling factors of the fuzzy PI
controller. The fitness function, which is the objective function's inverse, is identified, and performance and
fitness values for SSA are assessed using newly developed parameters. The process is repeated until the
allotted number of iterations has been achieved if there are any problems, in which case the fitness function is
given a negative value. As the ideal fuzzy controller, the choice with the highest fitness value is chosen.
The techniques utilized for this work are theoretical calculations based on analytical equations,
figuring out the capacitance and inductance values for a particular switching frequency. The simulation
program's design parameters are verified using these theoretical values. Throughout the process, assumptions

Int J Pow Elec & Dri Syst, Vol. 15, No. 3, September 2024: 1951-1958
Int J Pow Elec & Dri Syst ISSN: 2088-8694  1953

and limitations are specified and followed. Using a simulation tool, specifically the MATLAB/Simulink
software, the design is validated once the applied parameters yield results that match the theoretical ones. The
experimental design is also evaluated by simulation prior to deployment.

3. FUZZY SALP SWARM ALGORITHM (FSSA)

In this study, the fuzzy salp swarm algorithm (FSSA) is employed to determine the parameters of
the fuzzy logic controller, which are subsequently used to regulate the drive speed. These parameters
encompass coefficients of linear output functions, input membership function parameters, and input scaling
factors. The commands within an M-File written in MATLAB execute FSSA iterations, as illustrated in
Figure 1. The optimized fuzzy speed controller's simulated structure for Quasi-Z-Source converter fed drives,
is depicted in Figure 2. Furthermore, Figures 3 and 4 display the proportional-integral (PI) gains
corresponding to speed and load torque.

Figure 1. MATLAB commands in M-file

Figure 2. Simulated structure of optimized fuzzy speed controller

Figure 5 showcases the rule viewer and surface viewer of the fuzzy controller implemented using
FSSA. The integration of FSSA enhances the optimization process, allowing for the effective tuning of fuzzy
logic controller parameters for improved drive speed control. The FSSA algorithm, inspired by the swarming
behavior of salps, optimizes the parameters through collaborative interactions among individuals in the
swarm. The FSSA algorithm is known for its ability to efficiently explore the solution space and converge

Optimal fuzzy controller for speed control of DC drive using salp swarm … (Deepa Somasundaram)
1954  ISSN: 2088-8694

towards optimal or near-optimal solutions. It introduces a novel approach to parameter optimization,

leveraging the collective intelligence of a swarm of salps to navigate the search space effectively. In the M-
File for MATLAB, the FSSA iterations involve the adaptation and update of parameters, mimicking the
social interactions observed in salp swarms. These iterations lead to the determination of optimal or near-
optimal parameters for the fuzzy logic controller, thereby enhancing the overall performance of the drive
speed control system. The utilization of FSSA in this context provides a robust and intelligent optimization
technique, demonstrating its effectiveness in fine-tuning fuzzy logic controllers for complex systems such as
those involving Z-Source and Quasi-Z-Source converters in drive applications.

Figure 3. KP corresponded with speed and load torque Figure 4. KI corresponded with speed and load torque

Figure 5. Simulink rule viewer for fuzzy logic controller

4. RESULTS AND DISCUSSIONS

For a drive powered by a quasi-Z source converter, the effectiveness of the suggested approach is
evaluated. By comparing the outcomes of the suggested fuzzy optimized salp swarm optimization with those
of the fuzzy optimized bacterial foraging algorithm FBFA controller, its efficacy is examined. The structure
of the optimized fuzzy speed controller for a Quasi-Z-Source converter-fed drive is illustrated in Figure 6.
This controller leverages fuzzy optimized salp swarm optimization to enhance its performance in the context
of the quasi-Z source converter-driven system.
The effects of the models’ performance based on varying input model parameters such as load
torque and reference speed were assessed. The impact of these varied input parameters on system
performance in terms of rise time, settling time, peak overshoot, and peak speed value were evaluated. A
reference speed of 1200 rpm was randomly selected at no load. This selected reference speed was later
repeated for a load torque of 7Nm. Their corresponding responses with fuzzy-optimized bacterial foraging
algorithm (BOFA) and fuzzy-optimized salp swarm optimization were displayed.

Int J Pow Elec & Dri Syst, Vol. 15, No. 3, September 2024: 1951-1958
Int J Pow Elec & Dri Syst ISSN: 2088-8694  1955

Figure 6. Structure of fuzzy optimized SSA for speed control of DC motor

4.1. System performance for reference speed of 1200 rpm at no load

The system’s response and performance for a reference speed of 1200 rpm with the fuzzy-optimized
bacterial foraging algorithm (BOFA) and fuzzy-optimized salp swarm optimization (SALP) at no load, are
presented in Figures 7 and 8 respectively. The system performance for a reference speed of 1200 rpm at no
load is summarized in Table 1. Table 1 provides a detailed overview of the system performance for a
reference speed of 1200 rpm at no load, employing fuzzy-optimized bacterial foraging algorithm (BOFA).
Noteworthy metrics include a rise time of 0.224 seconds, settling time of 1.387 seconds, a maximum
overshoot of 18.3%, and a peak speed value of 1420 rpm.
The shorter rise time indicates a rapid initial response, but it comes at the cost of a higher overshoot
and longer settling time. These characteristics suggest a trade-off between achieving quick initial response
and the subsequent stabilization period. Engineers may weigh these factors based on the specific
requirements of the DC drive system, balancing the need for speed response against overshoot
considerations. With a rise time of 0.44 seconds, settling time of 0.781 seconds, a significantly reduced
maximum overshoot of 4.3%, and a peak speed value of 1200 rpm, SALP demonstrates a different trade-off
between response time and stability. While SALP exhibits a slightly longer rise time, it achieves faster
stabilization and maintains a lower overshoot compared to BOFA. These attributes suggest that fuzzy-
optimized salp swarm optimization may be a favorable choice for applications where minimizing overshoot
and achieving quicker stabilization are critical performance factors. Ultimately, the selection between BOFA
and SALP depends on the specific performance requirements of the DC drive system.

Figure 7. Response of system with FBFO Figure 8. Response of system with FSSA

Table 1. Performance indices for the DC motor BOFA and SALP at no load and 1200 rpm reference speed
Parameters Fuzzy-optimized bacterial foraging algorithm (BOFA) Fuzzy-optimized salp swarm optimization (SALP)
Rise time (Tr) 0.224 seconds 0.44 seconds
Settling time (Ts) 1.387 seconds 0.781 seconds
Maximum overshoot 18.3% 4.3%
Peak speed value 1420 rpm 1200 rpm

Optimal fuzzy controller for speed control of DC drive using salp swarm … (Deepa Somasundaram)
1956  ISSN: 2088-8694

4.2. System performance for reference speed of 1200 rpm at 7 Nm torque load
In this analysis, the system performance of a DC motor operating at a reference speed of 1200 rpm
with a load torque of 7 Nm is examined using fuzzy-optimized bacterial foraging algorithm (BOFA) and
fuzzy-optimized salp swarm optimization (SALP). Table 2 shows the performance indices for the DC motor
with BOFA and SALP at load and 1200 rpm reference speed. The rise time (Tr), settling time (Ts),
maximum overshoot, and peak speed value for each controller are as shown in Table 2.
Comparing the performance of the two controllers, it is observed that fuzzy-optimized salp swarm
optimization (SALP) exhibits a longer rise time but achieves a faster settling time, lower maximum
overshoot, and maintains a lower peak speed value compared to fuzzy-optimized bacterial foraging algorithm
(BOFA) under the influence of a 7 Nm load.
a) Fuzzy-optimized salp swarm optimization (SALP) advantage:
- Faster Stabilization: SALP demonstrates a significantly faster settling time, implying quicker adaptation
to the applied load torque. This characteristic can be crucial in applications where rapid stabilization is
essential.
- Lower overshoot: SALP exhibits a lower maximum overshoot, indicating a more controlled and precise
response to the load disturbance.
b) Fuzzy-optimized bacterial foraging algorithm (BOFA) characteristics:
- Gradual Stabilization: BOFA, with a longer settling time, showcases a more gradual stabilization
process. This behaviour might be advantageous in scenarios where a smoother response is preferred
over quick adjustments.
c) The choice between the two controllers depends on the specific requirements of the DC drive system,
considering factors such as overshoot tolerance, settling time, and peak speed constraints, especially in
the presence of varying loads.

Figure 9. Response of system with FBFO at 7NM Figure 10. Response of system with FSSA at 7 NM

Table 2. Performance indices for the DC motor with BOFA and SALP at load and 1200 rpm reference speed.
Parameters Fuzzy-optimized bacterial foraging algorithm (BOFA): Fuzzy-optimized salp swarm optimization (SALP)
Rise time (Tr) 0.224 seconds 0.34 seconds
Settling time (Ts) 1.16 seconds 0.781 seconds
Maximum overshoot 17.7% 3.3%
Peak speed value 1420 rpm 1200 rpm

5. CONCLUSION
In conclusion, the comparative assessment of fuzzy-optimized bacterial foraging algorithm (BOFA)
and fuzzy-optimized salp swarm optimization (SALP) controllers for a DC motor drive powered by a quasi-
Z source converter reveals valuable insights. Under a reference speed of 1200 rpm at no load, BOFA exhibits
a quicker rise time but at the expense of a higher overshoot and longer settling time. On the other hand,
SALP showcases a slightly longer rise time but achieves faster stabilization, lower overshoot, and maintains
a lower peak speed value. With a load torque of 7 Nm, SALP maintains its advantages, demonstrating faster
stabilization, lower overshoot, and a lower peak speed value compared to BOFA. SALP's capacity for
quicker adaptation and precise response makes it favorable for applications where rapid stabilization is

Int J Pow Elec & Dri Syst, Vol. 15, No. 3, September 2024: 1951-1958
Int J Pow Elec & Dri Syst ISSN: 2088-8694  1957

crucial. Conversely, BOFA's gradual stabilization might be advantageous in scenarios where a smoother
response is preferred over quick adjustments. The ultimate controller choice hinges on specific DC drive
system requirements, encompassing factors like overshoot tolerance, settling time preferences, and peak
speed constraints, particularly in the face of varying loads.

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Optimal fuzzy controller for speed control of DC drive using salp swarm … (Deepa Somasundaram)
1958  ISSN: 2088-8694

BIOGRAPHIES OF AUTHORS

Deepa Somasundaram received her B.E. from K.S.R college of Technology,

affiliated to Periyar University, in 2003, M.E. from Annamalai University in 2005. She
completed her Ph.D. degree form Sathyabama University in 2013. Presently, she is working as
a professor in the Department of EEE at Panimalar Engineering College, Chennai. She has
published a more than 35 papers in international and national journals. Her area of interest is
power system, optimisation technique. She has more than 15 years of experience in teaching
field. She can be contacted at email: dee_soms123@yahoo.co.in.

Sasikala Arumugham got M.Tech in energy conservation and management at

Bharathidasan University. She is associate professor in Sri Sai Ram Institute of Technilogy,
Department of Electrical and Electronics Engineering, Chennai, Tamilnadu. She has received a
young researcher award from Institute of Scholars in the year 2021. She is pursuing her Ph.D
in renewable energy. Her area of interest includes PV systems, power electronics and AI
techniques. She can be contacted at email: sasikala.eee@sairamit.edu.in.

Puviarasi Ramalingam received her Ph.D. from Saveetha Institute of Medical

and Technical Sciences in 2018. She completed her M.E in electrical drives and embedded
control from Anna University Coimbatore in 2011. Her research areas include power
electronics, renewable energy systems, image processing, and robotics. She can be contacted at
email: rpuviarasi56@gmail.com.

Kirubakaran Dhandapani has obtained his Ph.D. from Anna University in 2010
and M.E. degree from Bharathidasan University in 2000. His area of interest is AC-AC
converters for induction heating & renewable energy systems. He had guided 10 Ph.D.
research scholars. He has published more than 60 papers on referred international journals. He
is a life member of ISTE. He is having 22 years of teaching experience. He is working as
professor and heading EEE Department at St. Joseph’s Institute of Technology, Chennai since
2011. He can be contacted at email: kirubad@gmail.com.

Kalaivani Ramaiyan obtained her B.E. degree in electrical and electronics

engineering in the year 2000 from National Institute of Technology, Trichy, M.E. degree in
power systems in the year 2002 from National Institute of Technology, Trichy. She obtained
her Ph.D. degree in the year 2013 from Anna University, Chennai. She is currently working as
professor in Rajalakshmi Engineering College at the Department of Electrical and Electronics
Engineering. Her current research areas are smart grid, renewable energy and electric vehicle.
She can be contacted at email: kalaivani.r@rajalakshmi.edu.in.

Int J Pow Elec & Dri Syst, Vol. 15, No. 3, September 2024: 1951-1958