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When the reference value is set as 1,500 and the Kp, Ki, and Kd values are taken by execution of iterations in GA, then the error is minimized and the displacement is settled at the reference value in the output as shown in Figures 2.15 a, b and c.

The Kp, Ki, and Kd values obtained by GA are 0. 38281, 0.19672, and 0.24252.

Figure 2.14 (a) Control error for reference value 500.

Figure 2.14 (b) Control action for reference value 500.

Figure 2.14 (c) System output for reference value 500 (error).

Figure 2.15 (a) Control action for reference value 1,500.

Figure 2.15 (b) Control action for reference value 1,500.

Figure 2.15 (c) System output for reference value 1,500.

Table 2.1 Analysis report.

Distance	Kp	Ki	Kd	Settling time
Error 500	10	0.5	5	NIL
500	0.22192	1.32339	0.12735	11 seconds
1,000	0.93028	0.31099	0.75421	8 seconds
1,500	0. 38281	0.19672	0.24252	9 seconds