The present invention provides a non-linear PID control parameter setting method based on
self adaptive ant colony intelligent. The method includes the steps as follows: first, the optimum relation range of undetermined coefficient in a non-linear
PID controller; second, a gridding is made in a variable region which is divided into a plurality of space regions; third, an initial parameter and a taboo table index indicating hand, every two ants are used as a partner to choose a certain node as the starting point; fourth, two ants choose the optimum relation space node according to the
state transition probability and go forwards; fifth, the taboo table index indicating hand is amended, according to the
route passed by the ants, the non-linear PID control undetermined coefficient corresponding to the
route is calculated, and the objective function corresponding to the ants is calculated, as well as the ITAE minimal
performance index in the cycle period is recorded; finally, the non-linear PID control parameter corresponding to the minimal
performance index is stored in a control coefficient, at the same time, the
pheromone residual coefficient adjusted in the self-adaption way, and the
pheromone rail on each
route is renovated. The steps are circled till an optimum result is obtained.