Systematic Tuning and Experimental Validation of a Nonlinear PID Controller for Temperature Process Tracking

Luis Caiza; Marco Herrera; Diego S. Benítez; Oscar Camacho

doi:10.1007/978-3-032-20900-9_2

Systematic Tuning and Experimental Validation of a Nonlinear PID Controller for Temperature Process Tracking

Luis Caiza
, Marco Herrera
, Diego S. Benítez
, Oscar Camacho^*

^*Corresponding author for this work

Ingeniería Electrónica y Automatización

Universidad San Francisco de Quito

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

Abstract

The main objective of this work is to enhance tracking performance by systematically tuning PID parameters to minimize tracking errors, improve stability, and increase robustness against disturbances. In this extended study, the proposed nonlinear PID controller, tuned using the Artificial Bee Colony (ABC) algorithm, is further evaluated under sinusoidal reference tracking with an educational temperature control plant. The experimental results confirm that the ABC-tuned nonlinear PID achieves superior transient performance, reduced overshoot, and strong disturbance rejection. These findings demonstrate the controller’s effectiveness and reliability in both step-response and dynamic reference scenarios.

Original language	English
Title of host publication	Applications of Computational Intelligence - 8th IEEE Colombian Conference, ColCACI 2025, Revised Selected Papers
Editors	Alvaro David Orjuela-Cañón, Jesus A Lopez, Oscar J Suarez
Publisher	Springer Science and Business Media Deutschland GmbH
Pages	14-27
Number of pages	14
ISBN (Print)	9783032208996
DOIs	https://doi.org/10.1007/978-3-032-20900-9_2
State	Published - 2026
Event	8th IEEE Colombian Conference on Applications of Computational Intelligence, ColCACI 2025 - Armenia, Colombia Duration: 27 Aug 2025 → 29 Aug 2025

Publication series

Name	Communications in Computer and Information Science
Volume	2846 CCIS
ISSN (Print)	1865-0929
ISSN (Electronic)	1865-0937

Conference

Conference	8th IEEE Colombian Conference on Applications of Computational Intelligence, ColCACI 2025
Country/Territory	Colombia
City	Armenia
Period	27/08/25 → 29/08/25

Keywords

Artificial Bee Colony Algorithm
Nonlinear PID
Optimization
Sinusoidal Reference Tracking

Access to Document

10.1007/978-3-032-20900-9_2

Cite this

Caiza, L., Herrera, M., Benítez, D. S., & Camacho, O. (2026). Systematic Tuning and Experimental Validation of a Nonlinear PID Controller for Temperature Process Tracking. In A. D. Orjuela-Cañón, J. A. Lopez, & O. J. Suarez (Eds.), Applications of Computational Intelligence - 8th IEEE Colombian Conference, ColCACI 2025, Revised Selected Papers (pp. 14-27). (Communications in Computer and Information Science; Vol. 2846 CCIS). Springer Science and Business Media Deutschland GmbH. https://doi.org/10.1007/978-3-032-20900-9_2

Caiza, Luis ; Herrera, Marco ; Benítez, Diego S. et al. / Systematic Tuning and Experimental Validation of a Nonlinear PID Controller for Temperature Process Tracking. Applications of Computational Intelligence - 8th IEEE Colombian Conference, ColCACI 2025, Revised Selected Papers. editor / Alvaro David Orjuela-Cañón ; Jesus A Lopez ; Oscar J Suarez. Springer Science and Business Media Deutschland GmbH, 2026. pp. 14-27 (Communications in Computer and Information Science).

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abstract = "The main objective of this work is to enhance tracking performance by systematically tuning PID parameters to minimize tracking errors, improve stability, and increase robustness against disturbances. In this extended study, the proposed nonlinear PID controller, tuned using the Artificial Bee Colony (ABC) algorithm, is further evaluated under sinusoidal reference tracking with an educational temperature control plant. The experimental results confirm that the ABC-tuned nonlinear PID achieves superior transient performance, reduced overshoot, and strong disturbance rejection. These findings demonstrate the controller{\textquoteright}s effectiveness and reliability in both step-response and dynamic reference scenarios.",

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author = "Luis Caiza and Marco Herrera and Ben{\'i}tez, \{Diego S.\} and Oscar Camacho",

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Caiza, L, Herrera, M, Benítez, DS & Camacho, O 2026, Systematic Tuning and Experimental Validation of a Nonlinear PID Controller for Temperature Process Tracking. in AD Orjuela-Cañón, JA Lopez & OJ Suarez (eds), Applications of Computational Intelligence - 8th IEEE Colombian Conference, ColCACI 2025, Revised Selected Papers. Communications in Computer and Information Science, vol. 2846 CCIS, Springer Science and Business Media Deutschland GmbH, pp. 14-27, 8th IEEE Colombian Conference on Applications of Computational Intelligence, ColCACI 2025, Armenia, Colombia, 27/08/25. https://doi.org/10.1007/978-3-032-20900-9_2

Systematic Tuning and Experimental Validation of a Nonlinear PID Controller for Temperature Process Tracking. / Caiza, Luis; Herrera, Marco; Benítez, Diego S. et al.
Applications of Computational Intelligence - 8th IEEE Colombian Conference, ColCACI 2025, Revised Selected Papers. ed. / Alvaro David Orjuela-Cañón; Jesus A Lopez; Oscar J Suarez. Springer Science and Business Media Deutschland GmbH, 2026. p. 14-27 (Communications in Computer and Information Science; Vol. 2846 CCIS).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

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AU - Herrera, Marco

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N1 - Publisher Copyright: © The Author(s), under exclusive license to Springer Nature Switzerland AG 2026.

PY - 2026

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N2 - The main objective of this work is to enhance tracking performance by systematically tuning PID parameters to minimize tracking errors, improve stability, and increase robustness against disturbances. In this extended study, the proposed nonlinear PID controller, tuned using the Artificial Bee Colony (ABC) algorithm, is further evaluated under sinusoidal reference tracking with an educational temperature control plant. The experimental results confirm that the ABC-tuned nonlinear PID achieves superior transient performance, reduced overshoot, and strong disturbance rejection. These findings demonstrate the controller’s effectiveness and reliability in both step-response and dynamic reference scenarios.

AB - The main objective of this work is to enhance tracking performance by systematically tuning PID parameters to minimize tracking errors, improve stability, and increase robustness against disturbances. In this extended study, the proposed nonlinear PID controller, tuned using the Artificial Bee Colony (ABC) algorithm, is further evaluated under sinusoidal reference tracking with an educational temperature control plant. The experimental results confirm that the ABC-tuned nonlinear PID achieves superior transient performance, reduced overshoot, and strong disturbance rejection. These findings demonstrate the controller’s effectiveness and reliability in both step-response and dynamic reference scenarios.

KW - Artificial Bee Colony Algorithm

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KW - Optimization

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Caiza L, Herrera M, Benítez DS , Camacho O. Systematic Tuning and Experimental Validation of a Nonlinear PID Controller for Temperature Process Tracking. In Orjuela-Cañón AD, Lopez JA, Suarez OJ, editors, Applications of Computational Intelligence - 8th IEEE Colombian Conference, ColCACI 2025, Revised Selected Papers. Springer Science and Business Media Deutschland GmbH. 2026. p. 14-27. (Communications in Computer and Information Science). doi: 10.1007/978-3-032-20900-9_2