%%?Tunning?of?PID?controller?using?Particle?Swarm?Optimization?
%
%
%?Author:?Wael?Mansour?（wael192@yahoo.com）
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%?MSc?Student?Electrical?Enginering?Dept?
%?Faculty?of?Engineering?Cairo?University?Egypt
%

%%?Initialization
clear
clc
n?=?50;???????????%?Size?of?the?swarm?“?no?of?birds?“
bird_setp??=50;???%?Maximum?number?of?“birds?steps“
dim?=?2;??????????%?Dimension?of?the?problem

c2?=1.2;??????????%?PSO?parameter?C1?
c1?=?0.12;????????%?PSO?parameter?C2?
w?=0.9;???????????%?pso?momentum?or?inertia??
fitness=0*ones（nbird_setp）;

???????????????????????????????????????%-----------------------------%
???????????????????????????????????????%????initialize?the?parameter?%
???????????????????????????????????????%-----------------------------%
???????????????????????????????????????
R1?=?rand（dim?n）;
R2?=?rand（dim?n）;
current_fitness?=0*ones（n1）;

?????????????????????????????????%------------------------------------------------%
?????????????????????????????????%?Initializing?swarm?and?velocities?and?position?%
?????????????????????????????????%------------------------------------------------%
?????????????????????????????????
current_position?=?10*（rand（dim?n）-.5）;
velocity?=?.3*randn（dim?n）?;
local_best_position??=?current_position?;


?????????????????????????????????%-------------------------------------------%
?????????????????????????????????%?????Evaluate?initial?population???????????%???????????
?????????????????????????????????%-------------------------------------------%

for?i?=?1:n
????current_fitness（i）?=?tracklsq（current_position（:i））;????
end


local_best_fitness??=?current_fitness?;
[global_best_fitnessg]?=?min（local_best_fitness）?;

for?i=1:n
????globl_best_position（:i）?=?local_best_position（:g）?;
end
???????????????????????????????????????????????%-------------------%
???????????????????????????????????????????????%??VELOCITY?UPDATE??%
???????????????????????????????????????????????%-------------------%

velocity?=?w?*velocity?+?c1*（R1.*（local_best_position-current_position））?+?c2*（R2.*（globl_best_position-current_position））;

???????????????????????????????????????????????%------------------%
???????????????????????????????????????????????%???SWARMUPDATE????%
???????????????????????????????????????????????%------------------%
???????????????????????????????????????????????
????????????
current_position?=?current_position?+?velocity?;

???????????????????????????????????????????????%------------------------%
???????????????????????????????????????????????%??evaluate?anew?swarm???%
???????????????????????????????????????????????%------------------------%
???????????????????????????????????????????????

%%?Main?Loop
iter?=?0?;????????%?Iterations抍ounter
while??（?iter?iter?=?iter?+?1;

for?i?=?1:n
current_fitness（i）?=?tracklsq（current_position（:i））?;????
end


for?i?=?1?:?n
????????if?current_fitness（i）?