Optimization of PI controller of a dc motor four quadrant speed control through ICA

optimization using Imperialist competitive algorithm of PI controller of a dc motor speed control

this is the optimization of PI controller of dc motor speed control.this is done in matlab7.0.you can change the range of the PI controller for optimization,by changing [varmin],[varmax] matrix. in the 'Main_ImperialistCompetitveAlgorithm.m'.
the cost function is based on settling time,rise time,steady state error,overshoot.priority is given to these parameter.you can change the priority also.see the 'costfunction.m'.