GA-based practical compensator design for a motion control system

This paper presents an evolutionary algorithm for the robust motion control ler design in mechatronics systems using a genetic algorithm (GA). The moti on control system is composed of a robust 2-degrees-of-freedom compensator based on the coprime factorization description. Conventional controller des ign approaches to the optimization for compensator-free parameters essentia lly require complicated numerical procedures under the given control specif ications, In this research, a simple and practical algorithm for the compen sator design for motion control systems has been proposed. Using the optimi zation ability of the GA, the proposed algorithm is able to autonomously tu ne the optimal combination of the compensator-free parameters to satisfy th e specified motion control performance. The effectiveness of the proposed o ptimal design can be verified by experiments using a prototype, paying atte ntion to the system robustness against variations of mechanical parameters and the fast convergence of the optimization by the GA.