PID-Dahlin Polynomial Speed Controller Optimized by Ant Colony Algorithm on an ARM Platform

Sofía Torres, Miguel Melo, William Montalvo

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review


A polynomial PID controller does not have the same transient response as a conventional PID, since it tends to be relatively slower, but at the same time much more stable. To demonstrate the above, this paper proceeds to develop two speed controllers for a permanent magnet DC motor. One is a PID controller with standard structure tuned by Euler using the PID Tuner tool of Matlab, and the other is a polynomial PID controller based on the Dahlin algorithm, which is tuned using Ant Colony Optimization (ACO). The controllers are implemented on a card with Advanced RISC Machine (ARM) technology of the STM32F4-Discovery family, programmed in graphical language using Simulink from Matlab. The performance of the controls is compared using the Wilcoxon statistical method of IBM's Statistical Package for the Social Sciences (SPSS), which determines the best control based on the Integral of Absolute Error (IAE).

Original languageEnglish
Title of host publicationInnovation and Research - A Driving Force for Socio-Econo-Technological Development - Proceedings of the CI3 2021
EditorsMarcelo Zambrano Vizuete, Miguel Botto-Tobar, Angela Diaz Cadena, Benjamin Durakovic
PublisherSpringer Science and Business Media Deutschland GmbH
Number of pages14
ISBN (Print)9783031114373
StatePublished - 2022
Event2nd International Conference on Research and Innovation, CI3 2021 - Virtual, Online
Duration: 1 Sep 20213 Sep 2021

Publication series

NameLecture Notes in Networks and Systems
Volume511 LNNS
ISSN (Print)2367-3370
ISSN (Electronic)2367-3389


Conference2nd International Conference on Research and Innovation, CI3 2021
CityVirtual, Online

Bibliographical note

Publisher Copyright:
© 2022, The Author(s), under exclusive license to Springer Nature Switzerland AG.


  • Dahlin
  • Integral Absolute Error (IAE)
  • Proportional Integral Derivative (PID)
  • STM32F4-discovery
  • Wilcolxon


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