“…Practically, these three parameters are manually tuned by matching the parameters with the operating system and are fixed for all state of operation (Jerome Mendes & Araujo, ). Until now, many methods have been proposed to overcome the dynamic system such as Kalman filter (Yang et al, ) and particle filter (Pak, Ahn, Shi, Shmaliy, & Lim, ; Pak, Ahn, Shmaliy, Shi, & Lim, ; Zhang, Zang, Zhao, Fan, & Hao, ). However, in the system with the PID controller, the PID parameters still need to be tuned for each different operation.…”