Automatic choosing control design via GA for nonlinear systems

摘要

In this paper an automatic choosing control of the nonlinear suboptimal feedback type is proposed for nonlinear systems. Nonlinear terms of the system are piecewisely linearized so as to be able to design the linear optimal controllers. Thesecontrollers are smoothly united to synthesize a single nonlinear feedback controller by automatic choosing functions with unbiased characteristics. Parameters contained in this structure-specified controller are well selected by minimizing a modifiedHamiltonian's performance with the aid of GA from suboptimal point of view. The resulting controller is a compact form which enables easy implementation and evaluates a stable region in the sense of Lyapunov by a Lyapunov function presented here. Moreover it is possible to design variations of this controller. Examples are provided to illustrate the design procedure and the effectiveness of the proposed method.