Genetic design of robust PID plus feedforward controllers


Jones A., Ajlouni N., Lin Y., Kenway S., UZAM M.

1996 IEEE Conference on Emerging Technologies and Factory Automation (ETFA 96), Hawaii, United States Of America, 18 - 21 November 1996, pp.267-271 identifier identifier

  • Publication Type: Conference Paper / Full Text
  • Volume:
  • City: Hawaii
  • Country: United States Of America
  • Page Numbers: pp.267-271

Abstract

Evolutionary techniques are proposed in a new and novel paradigm to solve the problem of designing a robust fixed PID plus feedforward controller for a plant with prescribed plant parammeter uncertainties. The evolutionary scheme used, involves generating two separate populations, one representing the controller and the other the plant. The controller population is then evolved against a fixed population of plants representing the uncertainty space, such that the controller can control all these plants effectively. A cost function involving time-domain performance is then deployed, subject to a frequency domain stability constraint. The resulting paradigm results in a robust controller design with excellent time-domain performance. This evolutionary approach is illustrated by evolving a PID plus feedforward controller for a linear plant which has a set of prescribed uncertainties.