Using a Genetic Algorithm to tune a PID controller

This project was developed using python for introduction to robotics at UCF. I used a basic genetic algorithm to tune an abstract Proportional-Integral-Derivative feedback controller.
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Design of a genetic algorithm that provides the gains of a standard PID regulator in order to enhance the performances of the controller of a 2nd order system.

The GA works by minimizing the integral of absolute error.

Simulation done in Scilab.