Improved gravitational search algorithm for parameter identification of water turbine regulation system
2.1. Model of speed governor A major of micro-regulator are PID controller in the world. The PID controller in water turbine could be expressed as [3], [8], [36]: (1) σ (s) = 1 1 + bp * ki s * kp + ki s + kd * s 1 + Td * s * (c (s)-x (s)) where kp is the proportional gain, ki is the integral gain, kd is the differential gain, s is the Laplace operator, Td is the differential time