GA-based practical compensator design for a motion control system

This paper presents an evolutionary algorithm for the robust motion controller design in mechatronics systems using a genetic algorithm (GA). The motion control system is composed of a robust 2-degrees-of-freedom compensator based on the coprime factorization description. Conventional controller design approaches to the optimization for compensator-free parameters essentially require complicated numerical procedures under the given control specifications, In this research, a simple and practical algorithm for the compensator design for motion control systems has been proposed. Using the optimization ability of the GA, the proposed algorithm is able to autonomously tune the optimal combination of the compensator-free parameters to satisfy the specified motion control performance. The effectiveness of the proposed optimal design can be verified by experiments using a prototype, paying attention to the system robustness against variations of mechanical parameters and the fast convergence of the optimization by the GA.