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Journals / Balkan Journal of Electrical and Computer Engineering / 2026 / Cilt: 14

Starfish Optimization Algorithm-Tuned PID Controller for Automatic Voltage Regulation: A Multi-Criteria Time- and Frequency-Domain Study

Otomatik Gerilim Düzenlemesi için Deniz Yıldızı Optimizasyon Algoritması ile Ayarlanmış PID Kontrol Cihazı: Çok Kriterli Zaman ve Frekans Alanı Çalışması

İrfan Ökten(BİTLİS EREN ÜNİVERSİTESİ, MÜHENDİSLİK-MİMARLIK FAKÜLTESİ, BİLGİSAYAR MÜHENDİSLİĞİ BÖLÜMÜ, BİLGİSAYAR YAZILIMI ANABİLİM DALI)0000-0001-9898-7859
Pages
248–259
Publication Date
2026-10-12
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AI Summary & Key Takeaways

AI Insight
⚡ TL;DR(Too Long; Didn't Read)

These results indicate that SFOA provides an effective multi-criteria PID-tuning framework that improves transient response, relative stability, and reference-tracking performance for the investigated AVR system.

📌 3 Key Takeaways

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Objective & Hypothesis:Reliable terminal-voltage regulation is essential for preserving power quality and the secure operation of synchronous generators, yet the dynamic performance of an automatic voltage regulator (AVR) depends strongly on the tuning of its controller parameters.
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Key Findings & Data:Performance is benchmarked against PID controllers tuned by the reptile search algorithm (RSA), genetic algorithm (GA), and symbiotic organisms search (SOS) under identical plant and operating conditions.
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Conclusion & Impact:These results indicate that SFOA provides an effective multi-criteria PID-tuning framework that improves transient response, relative stability, and reference-tracking performance for the investigated AVR system.
🔬Design:Modeling & Simulation
📍Scope:Comprehensive Sample
⚙️Variables:Otomatik voltaj regülatörü (AVR) · frekans alanı kararlılığı · PID kontrolcüsü

Abstract

Reliable terminal-voltage regulation is essential for preserving power quality and the secure operation of synchronous generators, yet the dynamic performance of an automatic voltage regulator (AVR) depends strongly on the tuning of its controller parameters. This study proposes a starfish optimization algorithm (SFOA)-tuned proportional-integral-derivative (PID) controller for the standard linearized AVR benchmark. The proportional, integral and derivative gains are optimized simultaneously by minimizing a composite objective function that accounts for overshoot, steady-state error, rise time and settling time. Performance is benchmarked against PID controllers tuned by the reptile search algorithm (RSA), genetic algorithm (GA), and symbiotic organisms search (SOS) under identical plant and operating conditions. SFOA determines the gain set K_P = 0.6329, K_I=0.5165, and K_D=0.2275. The resulting controller achieves a rise time of 0.2900 s, a settling time of 0.4405 s, an overshoot of 1.1624%, a steady-state error of 4.7740×〖10〗^(-13)%, and the lowest objective-function value of 0.0627 among the compared methods. Frequency-domain analysis further shows that the phase margin increases from 16.1028 degrees to 68.3451 degrees, the gain margin from 4.6176 dB to 26.4043 dB, and the bandwidth from 6.9454 rad/s to 7.7374 rad/s. The controller also follows a multi-level time-varying voltage command without persistent offset or growing oscillations. These results indicate that SFOA provides an effective multi-criteria PID-tuning framework that improves transient response, relative stability, and reference-tracking performance for the investigated AVR system.

Özet

Güvenilir terminal gerilim regülasyonu, güç kalitesinin korunması ve senkron jeneratörlerin güvenli çalışması için çok önemlidir; ancak otomatik gerilim regülatörünün (AVR) dinamik performansı, kontrolör parametrelerinin ayarlanmasına büyük ölçüde bağlıdır. Bu çalışma, standart doğrusal AVR kıyaslama modeli için deniz yıldızı optimizasyon algoritması (SFOA) ile ayarlanmış oransal-integral-türev (PID) kontrolörü önermektedir. Oransal, integral ve türev kazançları, aşırı salınım, kararlı durum hatası, yükselme süresi ve yerleşme süresini hesaba katan bileşik bir amaç fonksiyonunu en aza indirgeyerek eş zamanlı olarak optimize edilir. Performans, aynı tesis ve çalışma koşulları altında sürüngen arama algoritması (RSA), genetik algoritma (GA) ve simbiyotik organizma arama (SOS) ile ayarlanmış PID kontrolörlerine karşı kıyaslanmıştır. SFOA, Kp = 0,6329, Ki = 0,5165 ve Kd = 0,2275 kazanç setini belirler. Elde edilen kontrolör, 0,2900 s'lik bir yükselme süresi, 0,4405 s'lik bir yerleşme süresi, %1,1624'lük bir aşırı salınım, %4,7740E-13'lük bir kararlı durum hatası ve karşılaştırılan yöntemler arasında en düşük hedef fonksiyon değeri olan 0,0627'yi elde etmektedir. Frekans alanı analizi ayrıca, faz marjının 4,6176 dereceden 26,4043 dereceye, kazanç marjının 16,1028 dB'den 68,3451 dB'ye ve bant genişliğinin 6,9454 rad/s'den 7,7374 rad/s'ye arttığını göstermektedir. Kontrolör ayrıca, kalıcı sapma veya artan salınımlar olmadan çok seviyeli zamanla değişen voltaj komutunu takip etmektedir. Bu sonuçlar, SFOA'nın incelenen AVR sistemi için geçici tepkiyi, göreceli kararlılığı ve referans izleme performansını iyileştiren etkili bir çok kriterli PID ayarlama çerçevesi sağladığını göstermektedir.

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Cite This Article

Ökten, İ. (2026). Starfish Optimization Algorithm-Tuned PID Controller for Automatic Voltage Regulation: A Multi-Criteria Time- and Frequency-Domain Study. Balkan Journal of Electrical and Computer Engineering, Cilt: 14, 248–259. https://doi.org/10.17694/bajece.2002051

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