Evolutionary robust servo control system design with time-domain constraints

Abstract

This paper develops an evolutionary algorithm-based methodology for robust DC servomotor control system design. Unlike conventional methods, the evolutionary design technique is capable of simultaneously solving mixed-sensitivity optimization and incorporating practical time-domain constraints without the need for a differentiable performance index. Experimental results show that the evolutionary design can include practical constraints such as actuator saturation and offer an excellent closed-loop performance with good robustness in the presence of nonlinear constraints, disturbances, and plant uncertainties.