Evolutionary Computation Method of Robust 2DOF PID Controller Design for Time-delay Systems

摘要

A new evolutionary computation method of robust PID controller design with two degrees of freedom (2DOF PID controller) for time-delay systems is proposed in this paper. The design problem of robust 2DOF PID controller for time-delay systems is formulated as a multi-objective minimax optimization problem, in the case that the objective plants have a time-delay element and parametric uncertainties. To develop the design method, therefore, the effective optimization tool is required. The proposed evolutionary computation method is to generate a set of pareto-optimal solution that is properly distributed in the tradeoff surface generated by multi-objective functions. Numerical examples show the effectiveness of the developed design method with the proposed evolutionary computation approach.