Optimized multiobjective H∞ control applied to inverted pendulum

This paper introduces several practical aspects of designing multiobjective problems such as H ∞ controllers. We present a procedure to obtain a controller with two degree of freedom (DOF). First we stabilize the nominal system by a conventional controller like LQR We use genetic algorithm to optimi...

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Bibliographic Details
Main Authors: Pourshaghaghi, H.R., Jahed-Motlagh, M.R., Montazer, A., Poshtan, J., Jalali, A.A.
Format: Conference Proceeding
Language:English
Subjects:
Control systems
Genetic Algorithm
Genetic algorithms
H ∞ Performance
Industrial Electronics Society
Linear Quadratic Regulator
LMI Optimization
Multiobjective control Inverted Pendulum
Nonlinear control systems
Open loop systems
Regulators
Riccati equations
Robust control
Systems engineering and theory
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Summary:This paper introduces several practical aspects of designing multiobjective problems such as H ∞ controllers. We present a procedure to obtain a controller with two degree of freedom (DOF). First we stabilize the nominal system by a conventional controller like LQR We use genetic algorithm to optimize LQR controller, too. This part of our controller leads to low cost of control input effort, and then we enforce other objectives in the framework of LMI optimization. This procedure leads to less energy consumption in comparison with using LMI methods alone. We design and implement this approach in an inverted pendulum as one of the most commonly nonlinear studied systems in the control area and can be considered as a benchmark for evaluating controlling methodologies.
ISSN:1553-572X
DOI:10.1109/IECON.2007.4460319