Loading…

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...

Full description

Saved in:
Bibliographic Details
Main Authors: Pourshaghaghi, H.R., Jahed-Motlagh, M.R., Montazer, A., Poshtan, J., Jalali, A.A.
Format: Conference Proceeding
Language:English
Subjects:
Online Access:Request full text
Tags: Add Tag
No Tags, Be the first to tag this record!
cited_by
cites
container_end_page 943
container_issue
container_start_page 938
container_title
container_volume
creator Pourshaghaghi, H.R.
Jahed-Motlagh, M.R.
Montazer, A.
Poshtan, J.
Jalali, A.A.
description 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.
doi_str_mv 10.1109/IECON.2007.4460319
format conference_proceeding
fullrecord <record><control><sourceid>ieee_6IE</sourceid><recordid>TN_cdi_ieee_primary_4460319</recordid><sourceformat>XML</sourceformat><sourcesystem>PC</sourcesystem><ieee_id>4460319</ieee_id><sourcerecordid>4460319</sourcerecordid><originalsourceid>FETCH-LOGICAL-i90t-7037211e09278ba5c19a283e124c2ccb6f4dff4072e20ed2a21643a4d105f5f13</originalsourceid><addsrcrecordid>eNotj81Kw0AUhQdUsNa-gG7yAon3zk8ms9RQbaGYTRfuyiS5A1PyRzIp6BP4FD6cT2LBrs5ZfBy-w9gDQoII5mm7zov3hAPoRMoUBJordoeSSwk6E_KaLVApESvNP27ZapqOAIAmzTKlF-ylGIJv_RfVUTs3wfflkargTxRtfr9_oqrvwtg3kR2Gxp-Z0Ee-O9EYzn2grp6bub1nN842E60uuWT71_U-38S74m2bP-9ibyDEGoTmiASG66y0qkJjeSYIuax4VZWpk7VzZ2VOHKjmlmMqhZU1gnLKoViyx_9ZT0SHYfStHT8Pl8fiD4_DS3o</addsrcrecordid><sourcetype>Publisher</sourcetype><iscdi>true</iscdi><recordtype>conference_proceeding</recordtype></control><display><type>conference_proceeding</type><title>Optimized multiobjective H∞ control applied to inverted pendulum</title><source>IEEE Electronic Library (IEL) Conference Proceedings</source><creator>Pourshaghaghi, H.R. ; Jahed-Motlagh, M.R. ; Montazer, A. ; Poshtan, J. ; Jalali, A.A.</creator><creatorcontrib>Pourshaghaghi, H.R. ; Jahed-Motlagh, M.R. ; Montazer, A. ; Poshtan, J. ; Jalali, A.A.</creatorcontrib><description>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.</description><identifier>ISSN: 1553-572X</identifier><identifier>ISBN: 1424407834</identifier><identifier>ISBN: 9781424407835</identifier><identifier>DOI: 10.1109/IECON.2007.4460319</identifier><language>eng</language><publisher>IEEE</publisher><subject>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</subject><ispartof>IECON 2007 - 33rd Annual Conference of the IEEE Industrial Electronics Society, 2007, p.938-943</ispartof><woscitedreferencessubscribed>false</woscitedreferencessubscribed></display><links><openurl>$$Topenurl_article</openurl><openurlfulltext>$$Topenurlfull_article</openurlfulltext><thumbnail>$$Tsyndetics_thumb_exl</thumbnail><linktohtml>$$Uhttps://ieeexplore.ieee.org/document/4460319$$EHTML$$P50$$Gieee$$H</linktohtml><link.rule.ids>309,310,780,784,789,790,2058,27925,54555,54920,54932</link.rule.ids><linktorsrc>$$Uhttps://ieeexplore.ieee.org/document/4460319$$EView_record_in_IEEE$$FView_record_in_$$GIEEE</linktorsrc></links><search><creatorcontrib>Pourshaghaghi, H.R.</creatorcontrib><creatorcontrib>Jahed-Motlagh, M.R.</creatorcontrib><creatorcontrib>Montazer, A.</creatorcontrib><creatorcontrib>Poshtan, J.</creatorcontrib><creatorcontrib>Jalali, A.A.</creatorcontrib><title>Optimized multiobjective H∞ control applied to inverted pendulum</title><title>IECON 2007 - 33rd Annual Conference of the IEEE Industrial Electronics Society</title><addtitle>IECON</addtitle><description>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.</description><subject>Control systems</subject><subject>Genetic Algorithm</subject><subject>Genetic algorithms</subject><subject>H ∞ Performance</subject><subject>Industrial Electronics Society</subject><subject>Linear Quadratic Regulator</subject><subject>LMI Optimization</subject><subject>Multiobjective control Inverted Pendulum</subject><subject>Nonlinear control systems</subject><subject>Open loop systems</subject><subject>Regulators</subject><subject>Riccati equations</subject><subject>Robust control</subject><subject>Systems engineering and theory</subject><issn>1553-572X</issn><isbn>1424407834</isbn><isbn>9781424407835</isbn><fulltext>true</fulltext><rsrctype>conference_proceeding</rsrctype><creationdate>2007</creationdate><recordtype>conference_proceeding</recordtype><sourceid>6IE</sourceid><recordid>eNotj81Kw0AUhQdUsNa-gG7yAon3zk8ms9RQbaGYTRfuyiS5A1PyRzIp6BP4FD6cT2LBrs5ZfBy-w9gDQoII5mm7zov3hAPoRMoUBJordoeSSwk6E_KaLVApESvNP27ZapqOAIAmzTKlF-ylGIJv_RfVUTs3wfflkargTxRtfr9_oqrvwtg3kR2Gxp-Z0Ee-O9EYzn2grp6bub1nN842E60uuWT71_U-38S74m2bP-9ibyDEGoTmiASG66y0qkJjeSYIuax4VZWpk7VzZ2VOHKjmlmMqhZU1gnLKoViyx_9ZT0SHYfStHT8Pl8fiD4_DS3o</recordid><startdate>200711</startdate><enddate>200711</enddate><creator>Pourshaghaghi, H.R.</creator><creator>Jahed-Motlagh, M.R.</creator><creator>Montazer, A.</creator><creator>Poshtan, J.</creator><creator>Jalali, A.A.</creator><general>IEEE</general><scope>6IE</scope><scope>6IH</scope><scope>CBEJK</scope><scope>RIE</scope><scope>RIO</scope></search><sort><creationdate>200711</creationdate><title>Optimized multiobjective H∞ control applied to inverted pendulum</title><author>Pourshaghaghi, H.R. ; Jahed-Motlagh, M.R. ; Montazer, A. ; Poshtan, J. ; Jalali, A.A.</author></sort><facets><frbrtype>5</frbrtype><frbrgroupid>cdi_FETCH-LOGICAL-i90t-7037211e09278ba5c19a283e124c2ccb6f4dff4072e20ed2a21643a4d105f5f13</frbrgroupid><rsrctype>conference_proceedings</rsrctype><prefilter>conference_proceedings</prefilter><language>eng</language><creationdate>2007</creationdate><topic>Control systems</topic><topic>Genetic Algorithm</topic><topic>Genetic algorithms</topic><topic>H ∞ Performance</topic><topic>Industrial Electronics Society</topic><topic>Linear Quadratic Regulator</topic><topic>LMI Optimization</topic><topic>Multiobjective control Inverted Pendulum</topic><topic>Nonlinear control systems</topic><topic>Open loop systems</topic><topic>Regulators</topic><topic>Riccati equations</topic><topic>Robust control</topic><topic>Systems engineering and theory</topic><toplevel>online_resources</toplevel><creatorcontrib>Pourshaghaghi, H.R.</creatorcontrib><creatorcontrib>Jahed-Motlagh, M.R.</creatorcontrib><creatorcontrib>Montazer, A.</creatorcontrib><creatorcontrib>Poshtan, J.</creatorcontrib><creatorcontrib>Jalali, A.A.</creatorcontrib><collection>IEEE Electronic Library (IEL) Conference Proceedings</collection><collection>IEEE Proceedings Order Plan (POP) 1998-present by volume</collection><collection>IEEE Xplore All Conference Proceedings</collection><collection>IEEE/IET Electronic Library (IEL)</collection><collection>IEEE Proceedings Order Plans (POP) 1998-present</collection></facets><delivery><delcategory>Remote Search Resource</delcategory><fulltext>fulltext_linktorsrc</fulltext></delivery><addata><au>Pourshaghaghi, H.R.</au><au>Jahed-Motlagh, M.R.</au><au>Montazer, A.</au><au>Poshtan, J.</au><au>Jalali, A.A.</au><format>book</format><genre>proceeding</genre><ristype>CONF</ristype><atitle>Optimized multiobjective H∞ control applied to inverted pendulum</atitle><btitle>IECON 2007 - 33rd Annual Conference of the IEEE Industrial Electronics Society</btitle><stitle>IECON</stitle><date>2007-11</date><risdate>2007</risdate><spage>938</spage><epage>943</epage><pages>938-943</pages><issn>1553-572X</issn><isbn>1424407834</isbn><isbn>9781424407835</isbn><abstract>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.</abstract><pub>IEEE</pub><doi>10.1109/IECON.2007.4460319</doi><tpages>6</tpages></addata></record>
fulltext fulltext_linktorsrc
identifier ISSN: 1553-572X
ispartof IECON 2007 - 33rd Annual Conference of the IEEE Industrial Electronics Society, 2007, p.938-943
issn 1553-572X
language eng
recordid cdi_ieee_primary_4460319
source IEEE Electronic Library (IEL) Conference Proceedings
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
title Optimized multiobjective H∞ control applied to inverted pendulum
url http://sfxeu10.hosted.exlibrisgroup.com/loughborough?ctx_ver=Z39.88-2004&ctx_enc=info:ofi/enc:UTF-8&ctx_tim=2025-01-05T10%3A46%3A28IST&url_ver=Z39.88-2004&url_ctx_fmt=infofi/fmt:kev:mtx:ctx&rfr_id=info:sid/primo.exlibrisgroup.com:primo3-Article-ieee_6IE&rft_val_fmt=info:ofi/fmt:kev:mtx:book&rft.genre=proceeding&rft.atitle=Optimized%20multiobjective%20H%E2%88%9E%20control%20applied%20to%20inverted%20pendulum&rft.btitle=IECON%202007%20-%2033rd%20Annual%20Conference%20of%20the%20IEEE%20Industrial%20Electronics%20Society&rft.au=Pourshaghaghi,%20H.R.&rft.date=2007-11&rft.spage=938&rft.epage=943&rft.pages=938-943&rft.issn=1553-572X&rft.isbn=1424407834&rft.isbn_list=9781424407835&rft_id=info:doi/10.1109/IECON.2007.4460319&rft_dat=%3Cieee_6IE%3E4460319%3C/ieee_6IE%3E%3Cgrp_id%3Ecdi_FETCH-LOGICAL-i90t-7037211e09278ba5c19a283e124c2ccb6f4dff4072e20ed2a21643a4d105f5f13%3C/grp_id%3E%3Coa%3E%3C/oa%3E%3Curl%3E%3C/url%3E&rft_id=info:oai/&rft_id=info:pmid/&rft_ieee_id=4460319&rfr_iscdi=true