exfiikkkk1e
de
dkkisusedtoreproduce
Step3CrossoverOperatio
pc006
ceil20ra
dfori12Size1tempra
difpctempforj
120TempEijEi1jTempEi1jEije
de
d
fe
dTempESizeBestSETempE
Step4Mutatio
Operatio
pm0001pm000111Size0001SizeBiggerfismallerpmpm00pm01fori11Sizeforj113CodeLtempra
difpmtempMutatio
Co
ditio
Nomutatio
Bigmutatio

ifTempEij0TempEij1elseTempEij0e
de
de
de
dGuara
teeTempESizebelo
gtothebesti
dividualTempESizeBestSETempEe
d
BestfiBestSKpidi
fBest_JBestJGfigure1plottimeBestJxlabelTimeylabelBestJfigure2plottimefri
rtimefyoutbxlabelTimesylabelra
youtchap5_3fmfu
ctio
KpidiBsJpid_gafKpidiBsJglobalri
youttimef
ts0001systf4001500dsysc2dsystsz
umde
tfdatadsysv
ri
10u_100u_200y_100y_200x000B0error_10tu1s0P100
fork11Ptimefkktsrkri

fukKpidi1x1Kpidi2x2Kpidi3x3ifuk10uk10e
difuk10uk10e
dyoutkde
2y_1de
3y_2
um2u_1
um3u_2errorkrkyoutkRetur
ofPIDparametersu_2u_1u_1uky_2y_1y_1youtk
x1errorkx2errorkerror_1tsx3x3errorkts
Calculati
g
PDI
error_2error_1error_1errorkifs0ifyoutk095youtk105tutimefks1e
de
de
d
fori11PJii0999abserrori001ui201BBJii
fifi1erryiyoutiyouti1iferryi0BB100abserryie
de
de
dBsjB02tu10
fr