A GA based on-line tuning of robust minimax I-PD controller with penalty on manipulated variable

  • Kawabe, Tohru (Information Processing Center, Univ. of Tokushima) ;
  • Tagami, Takanori (Information Processing Center, Univ. of Tokushima) ;
  • Katayama, Tohru (Department of Applied Mathmatics and Physics, Kyoto University)
  • Published : 1995.10.01


In this paper we propose an on-line tuning method by using genetic algorithm for robust minimax I-PD controller based on new criterion. The new criterion is the Integral of Squared Error (ISE) with a penalty of the derivative of manipulated variable. The work focuses on robust tuning of I-PD controller's parameters in the presence of plant parameter uncertainty. The result of several simulation studies are provided to illustrate the performance of this robust tunig method.