Design of optimal disturbance rejection PID controllers using genetic algorithms

• Published in: IEEE transactions on evolutionary computation Vol. 5; no. 1; pp. 78 - 82
• Main Authors: Krohling, R.A., Rey, J.P.
• Format: Journal Article
• Language: English
• Published: New York, NY IEEE 01.02.2001; Institute of Electrical and Electronics Engineers; The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
• Subjects: Applied sciences; Artificial intelligence; Computer science; control theory; systems; Connectionism. Neural networks; Constraint optimization; Control systems; Controllers; Design engineering; Design methodology; Design optimization; Disturbances; Exact sciences and technology; Genetic algorithms; Mathematics; Numerical analysis; Numerical analysis. Scientific computation; Numerical methods in mathematical programming, optimization and calculus of variations; Numerical methods in optimization and calculus of variations; Optimal control; Optimization; Performance analysis; Proportional integral derivative; Rejection; Sciences and techniques of general use; Servomotors; System testing; Three-term control; Performance evaluation; Disturbance rejection; Feedback system; Genetic algorithm; Control system; Constraint satisfaction; Servomechanism; Servomotor; Optimal design; Constrained optimization; Differential integral proportional regulator
• ISSN: 1089-778X; 1941-0026
• DOI: 10.1109/4235.910467

This paper presents a method to design an optimal disturbance rejection PID controller. First, a condition for disturbance rejection of a control system-H/sub /spl infin//-norm-is described. Second, the design is formulated as a constrained optimization problem. It consists of minimizing a performance index, i.e., the integral of the time weighted squared error subject to the disturbance rejection constraint. A new method employing two genetic algorithms (GA) is developed for solving the constraint optimization problem. The method is tested by a design example of a PID controller for a servomotor system. Simulation results are presented to demonstrate the performance and validity of the method.