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Real-coded genetic algorithm(RCGA) has better performances than conventional genetic algorithm about dealing with a large domain, the precision and the constrain problem. Also the RCGA has advantage of operation time because it doesn`t have to following about decoding operation. In this paper the ranges of PID gains are limited based on Ziegler-Nichols method to consider a long operation time problem that is the main problem of genetic algorithm. Result shows proposed method represents better performance without ignored about result of ZN tuning method and reduces the calculation time.

PID Tuning Based on RCGA Using Ziegler-Nichols Method