Based on the euclidean distance and king-crossover based artificial immune algorithm（DKBAIA）

a novel design method for optimal PID controller is proposed.The core of this method is to generate the optimal PID controller for a given control object by taking the ITAE criterion as the system performance index and using the DKBAIA algorithm to adjust and optimize the parameters of the PID controller.The designed controller is called the DKBAIA-PID controller.The DKBAIA-PID controller is applied in the motor in artificial intelligent prosthesis

and the computer simulation experiment is done.The result of the experiment demonstrates that the DKBAIA-PID controller has good dynamic and steady-state performances.