This paper proposes a novel tuning design of proportional integral derivative (PID) controller via an improved kidney-inspired algorithm (IKA) with a new objective function. The main objective of the proposed approach is to optimize the transient response of the AVR system by minimizing the maximum overshoot, settling time, rise time and peak time values of the terminal voltage, and eliminating the steady state error. After obtaining the optimal values of the three gains of the PID controller (K P , K I , and K D ) with the proposed approach, the transient response analysis was performed and compared with some of the current heuristic algorithms-based approaches in literature to show the superiority of the optimized PID controller. In order to evaluate the stability of the automatic voltage regulator (AVR) system tuned by IKA method, the pole/zero map analysis and Bode analysis are performed. Finally, the robustness analysis of the proposed approach has been carried out with variations in the parameters of the AVR system. The numerical simulation results demonstrated that the proposed IKA tuned PID controller has better control performances compared to the other existing approaches. The essence of the presented study points out that the proposed approach may successfully be applied for the AVR system.INDEX TERMS Automatic voltage regulator, improved kidney-inspired algorithm, PID tuning, robustness analysis, transient response. I. INTRODUCTION A. RESEARCH BACKGROUNDAutomatic voltage regulator (AVR) is essential equipment that is used in power system utilities. As its name implies, the main objective of AVR is to control the terminal voltage of synchronous generator by adjusting its exciter voltage. Due to the high inductance of the generator field windings and load variations, stable and fast response of the regulator is difficult to achieve [1]. Therefore, it is important to improve the AVR performance and ensure stable and efficient response to transient changes in terminal voltage. So far, different control techniques have been proposed by researchers to analyze the AVR system with an aim to gain better dynamic response. However, among these controllers the classical proportional plus integral plus derivative (PID) is the most preferable controller because of its simple design structure and robustness to variations of the system parameters [2]. B. LITERATURE SURVEYThe optimal tuning of the gain parameters (K P , K I and K D ) of the PID controller is a very difficult problem.The associate editor coordinating the review of this manuscript and approving it for publication was Fangfei Li.

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