GA-based multiobjective PID control for a linear brushless DC motor

This paper presents a robust output tracking control design method for a linear brushless DC motor with modeling uncertainties. Two frequency-domain specifications directly related to the mixed sensitivity function and control energy consumption are imposed to ensure stability and performance robustness. With regard to time-domain specifications, the rise time, maximum overshoot and steady-state error of the step response are considered. A generalized two-parameters proportional, integral, and derivative (PID) control framework is developed via a genetic searching approach ensuring the specifications imposed. The proposed design method is intuitive and practical that offers an effective way to implement simple but robust solutions covering a wide range of plant perturbation and, in addition, provides excellent tracking performance without resorting to excessive control. Extensive experimental and numerical results for a linear brushless motor confirm the proposed control design approach.