“…In recent years, artificial intelligence and optimization techniques have been used frequently in designing of PID depending on development of these methods. Algorithms like Fuzzy Logic (FL) [11], [12], Particle Swarm Optimization (PSO) [13], [14], Bacterial Foraging Optimization (BFO) [15], [16] or Genetic Algorithm (GA) [17], [18] have been implemented to determining the PID gain parameters successfully. However, they have had inadequate in some solution process due to reasons like difficulty of creating fuzzy rules in fuzzy logic, premature convergence or long computing time.…”