clear all

clc
pop_awal = 1000; %number of population
next_pop = 1;
run = 1;

s = tf('s');

p_motor = 1/(s^2+3*s+2);

t=0:0.1:20;

for r =1 : run
index = 1;
for i = 1 :pop_awal
pop(index, 1 , 1) = 2*rand;
pop(index, 1 , 2) = 0.001*rand;
pop(index, 1 , 3) = 0.01*rand;
index = index +1;
end
fo=0; %referensi awal
for i = 1 :pop_awal
x = pop (i, 1, 1);
y = pop (i, 1, 2);
z = pop (i, 1, 3);
x_pop(i) = x; %kp
y_pop(i) = y; %ki
z_pop(i) = z; %kd

C = x + y/s + z*s;
RS = feedback (C * p_motor,-1);
y_out = step(RS,t);
err = 1 - y_out;
ea = abs (err);
IAE = sum(ea);
fit = 1 / ( 1+IAE);

if fit >fo
best_fit = fit;
fo = fit;
best_x = x;
best_y = y;
best_z = z;
end
fitness (i) = fit;
end
pop %populasi awal;
fitness' % fitness setiap populasu;
best_fit % fitness terbaik
best_x %individu terbaik
best_y
best_z
fo %

CC = best_x + best_y/s + best_z*s;

 res_sys = feedback (CC*p_motor,-1);
yy = step (res_sys,t);
er = 1 - yy;
eaa = abs(er);
IAE_a = sum(eaa);
fit = 1./(1+IAE_a)

open_sys = step (p_motor,t);

plot (t,yy,'r',t,open_sys,'b')
grid on
end