A Design of Robust I-PD Controller based on Genetic Algorithm

T. Tagami and K. Ikeda (Japan)


Robust pole assignment, Edge theorem, Genetic algorithm, Pareto-optimal


In this paper, a new design method of robust I-PD con trollers based on a genetic algorithm is proposed. The proposed design method is deļ¬ned as a two-objective op timization problem in which an issue of settling time and damping ratio is translated into a pole assignment problem. The uncertainty of the plant is represented as a polytope of polynomials, and a design cost is reduced by using the edge theorem. In order to investigate the effectiveness of the proposed design method, a magnetic levitation system is used as an example of an uncertain plant.

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