Robust Controller Tuning For Two-Mass System Via Optimization Using Differential Evolution

Design of a robust controller via single objective constrained optimization using differential evolution (de) ispresented in this paper. a set robust feedback controller gain is optimized based on plant’s linear model havingstructured parametric uncertainty such that the closed-loop system would have the maximum stability radius. a wedgeregion is assigned as the optimization constraint to specify the desired closed-loop poles location which is directlyrelated to the desired time-domain response. the proposed controller design is applied to a two-mass system which isknown as the benchmark problem for robust controller design. the simulation results show that the robustnessperformance is achieved in the presence of parameter variations of the plant. the proposed controller performs thanthe conventional lqr (linear quadratic regulator) controller.