“…At present, many AI methods have been proposed to autotune the PID parameter, such as fuzzy logic [2], [10], [19], [20], neural networks (NNs) [1], [7], [21], particle swarm optimization (PSO) algorithms [6], [22], [23], hybrid firefly (FA) and pattern search [8], the ant lion optimization (ALO) algorithm [24], the whale optimization algorithm (WOA) [25], cuckoo search (CS) [10], [26], bacterial foraging optimization [27], genetic algorithms [28], the cosine algorithm [29], the bat algorithm [12], ant colony optimization (ACO) [13], [30], differential evolution (DE) [31], World Cup optimization (WCO) [32], evaluation algorithms (EAs) [33], [34], gray wolf optimization (GWO) [35], nature-inspired algorithms [17], chaotic invasive weed optimization [36], [37], flower pollination algorithm (FPA) [38] and firefly algorithm (FFA) [39]. Although many AI methods have been proposed to autotune the PID parameter, the challenges of long execution time and convergence persist.…”