“…PID controller tuning is a delicate and complex task when lacking a systematic approach. To solve the problem design of PID controllers, the optimization theory has been proven to be an effective method to tune and optimize the controller parameters [21,22]. Numerous optimization algorithms were investigated and tested with the PID controller in different applications, for instance, the Particle Swarm Optimization (PSO) [23,24], the Water Cycle Algorithm (WCA) [21,24], and the Harmony Search Algorithm (HSA) [22,24].…”