Journal of Institute of Control, Robotics and Systems (제어로봇시스템학회논문지)

Institute of Control, Robotics and Systems (제어로봇시스템학회)
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Design of a Robust Controller Using Genetic Algorithms and LMI Design Method

유전자 알고리즘과 LMI 설계 방법을 이용한 강인 제어기의 설계

  • 이문노 (동의대학교 컴퓨터공학과) ;
  • 이홍규 (한국기술교육대학교 전기공학과)
  • Received : 2011.01.17
  • Accepted : 2011.05.30
  • Published : 2011.07.01
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Abstract

This paper presents a controller design method for a robust control problem with multiple constraints using genetic algorithms and LMI design method. A robust $H_{\infty}$ constraint with loop shaping and pole placement is used to address disturbance attenuation with error limits and desired transient specifications, in spite of the plant uncertainties and disturbances. In addition, a loop gain constraint is considered so as not to enlarge the loop gain unnecessarily. The robust $H_{\infty}$ constraint and pole placement constraint can be expressed in terms of two matrix inequalities and the loop gain constraint can be considered as an objective function so that genetic algorithms can be applied. Accordingly, a robust controller can be obtained by integrating genetic algorithms with LMI approach. The proposed controller design method is applied to a track-following system of an optical disk drive and is evaluated through simulation results.

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References

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