Robust Controller Tuning for Two-Mass System via Optimization using Differential Evolution

Abstract

Design of a robust controller via single objective constrained optimization using differential evolution (DE) is presented in this paper. A set robust feedback controller gain is optimized based on plantâs linear model having structured parametric uncertainty such that the closed-loop system would have the maximum stability radius. A wedge region is assigned as the optimization constraint to specify the desired closed-loop poles location which is directly related to the desired time-domain response. The proposed controller design is applied to a two-mass system which is known as the benchmark problem for robust controller design. The simulation results show that the robustness performance is achieved in the presence of parameter variations of the plant. The proposed controller performs than the conventional LQR (linear quadratic regulator) controller.