Evolutionary design of robust PD sway control of a lifted load for a crane

PID control schemes still continue to be widely used for most industrial control systems. This is mainly because PID controllers have simple control structures, and are simple to maintain and tune. However, it is difficult to find a set of suitable control parameters in the case of time-varying and/or nonlinear systems. For such a problem, the robust controller has been proposed. Although it is important to choose the suitable nominal model in designing the robust controller, it is not usually easy. In this paper, a new robust PD controller design scheme is proposed, in which the suitable nominal model is designed using a real-coded genetic algorithm