Parameter Optimization of MIMO Fuzzy Optimal Model Predictive Control By APSO

Algorithm 2

Procedure of weight parameter optimization.

S.1. Choose the weighting matrices , , , the number of particles NP.

Initialize the position and velocity of each particle; fix learning factors and ; and the

number of iterations .

S.2. For = 1 to do

for each particle do

() Calculate the fittness value of each particle by minimizing the following Eq. (15)

() Find the individual best pbest for each particle and the global best .

() Update the velocity and the position of each particle using equations (17) and (18), respectively.

end for

end for

S.3. Find the best particle labeled as