Inproceedings,
Automatic creation of both the topology and parameters for a robust controller by means of genetic programming
Proceedings of the 1999 IEEE International Symposium on Intelligent Control, Intelligent Systems, and Semiotics, page 344--352. (1999)
Abstract
The paper describes a general automated method for
synthesizing the design of both the topology and
parameter values for controllers. The automated method
automatically makes decisions concerning the total
number of processing blocks to be employed in the
controller, the type of each block, the topological
interconnections between the blocks, the values of all
parameters for the blocks, and the existence, if any,
of internal feedback between the blocks of the overall
controller. Incorporation of time-domain,
frequency-domain, and other constraints on the control
or state variables (often analytically intractable
using conventional methods) can be readily
accommodated. The automatic method described in the
paper (genetic programming) is applied to a problem of
synthesizing the design of a robust controller for a
plant with a second-order lag. A textbook PID
compensator preceded by a lowpass pre-filter delivers
credible performance on this problem. However, the
automatically created controller employs a second
derivative processing block (in addition to
proportional, integrative, and derivative blocks and a
pre-filter). It is better than twice as effective as
the textbook controller as measured by the integral of
the time-weighted absolute error, has only two-thirds
of the rise time in response to the reference (command)
input, and is 10 times better in terms of suppressing
the effects of disturbance at the plant input.
