Robust Controller Design Using Edge Theorem and Genetic Algorithm

Mária Hypiusová(1*), Slavomír Kajan(2)

(1) Slovak University of Technology (FEI STU), Slovakia
(2) Slovak University of Technology (FEI STU), Slovakia
(*) Corresponding author


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Abstract


This paper deals with the robust controller design using Edge Theorem and genetic algorithm for uncertain SISO systems. The controller is designed using the Edge Theorem and the Neymark D-partition method for the affine model, this approach guarantees the required degree of stability. The genetic algorithm is used for modification of Edge Theorem method. The genetic algorithm represents an optimisation procedure, where the cost function to be minimized comprises the closed-loop simulation of the controlled process and a selected performance index evaluation. Using this approach, the parameters of the PID controller were optimised in order to obtain the required behaviour of the controlled process. Practical implementation is illustrated by the robust controller design for a DC motor with various parameters.
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Keywords


Edge Theorem; Genetic Algorithm; Robust Controller; Uncertain System

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References


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