% GA_ex671.m file
% [Kp Ki Kd] values for a PID control system

% PenChen Chou, Aug. 17, 2001

%**********************************************************/
%       User can modify the following in blocks
%**********************************************************/
global MIN_offset MUL_factor ROBUST Kp Ki Kd K a1 a2 MDL FT Emin
global ERR1 ERR2 ERR3 ERR4 ERR5 MAIN_loop


ROBUST=0; 
dcm2_init;
if ROBUST==0,
    Emin=1e6;
    MIN_offset=50000; % For finding MIN value
else
    Emin=1e6;
    MIN_offset=5e4;
end;    
MUL_factor=1; MAIN_loop=0;
MDL='dcmotor_2'; FT=2; eval(MDL);
K=17661.1;a1=29.73;a2=21.033;
obj_fcn = 'GA_f671';	% Objective function
%          Kp    Ki   Kd    
range = [ 0.1 0.0064  10  
          0.5   0.05   95.5 ];
IC=[]; elite=1; 
if ROBUST==0
    gen_no=10;
else    
    gen_no=20;
end;    
popuSize=20;
bit_n=40;
xover_rate=0.9;
mutate_rate=0.04;
%************************************************************
% call GA written by Chang
tic
%GA_genetic(obj_fcn, range, IC, elite,...
% gen_no, popuSize, bit_n, xover_rate, mutate_rate);
[popu, popu_real, fcn_value, upper, average, lower, ...
BEST_popu, popuSize, gen_no] = GA_genetic(obj_fcn, range,...
        IC, elite, gen_no, popuSize, bit_n,...
        xover_rate, mutate_rate);
t=toc/60;
fprintf('==>  Computation time is (%.2f) minutes.\n',t);            

% Final result
load xxx
MAIN_loop=1;
ERR1=0;ERR2=0;ERR3=0;ERR4=0;ERR5=0;
collect_errors;