Enhancing the Performance of Fixed - Structure Robust Loop Shaping Control using Genetic Algorithm Approach

Abstract—This paper is proposed an algorithm, Genetic Algorithm (GA) based fixed-structure Η loop shaping control, to the problem-solving of conventional Η loop shaping, such as high-order and difficult to be usable in general. In this approach, a structure of controller is specified combine Η loop shaping method is solved by GA algorithm. Additionally, in the proposed technique, the desired performance weighting function, which is defined by using GA. The performance and robustness of the proposed controller are investigated in a pneumatic servo system in comparison with that of the controller designed by conventional Η loop shaping. Results of simulation demonstrate the advantages of simple structure and robustness against plant perturbations and disturbances of the proposed controller. Experiments are performed to verify the effectiveness of the proposed technique.