An approach for selecting the weighting matrices of LQ optimal controller design based on genetic algorithms

In this paper a new method for selecting the weighting matrices of LQ optimal controller design is presented. The design objectives are converted to the inequality constraints and the selection of weighting matrices in LQ controller design is expressed as a multiobjective optimization problem. The LQ controller, which satisfies given performances, can be found by using genetic algorithm (GA) to optimize the weighting matrices. An LQ controller for inverted-pendulum is designed by using the proposed method. The resulting optimum control system satisfies all given performances.