Nonlinear Nonconvex Optimization by Evolutionary Algorithms Applied to Robust Control

<table>Evolution of <svg height="16.4125" id="M400" style="vertical-align:-3.3907pt" version="1.1" viewbox="0 0 38.525002 16.4125" width="38.525002" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink">
<g transform="matrix(.017,-0,0,-.017,.062,12.138)"><path d="M745 361q0 -166 -116 -272t-291 -106q-136 0 -225.5 83t-89.5 218q0 161 115.5 272t288.5 111q137 0 227.5 -83t90.5 -223zM643 359q0 126 -56 199.5t-167 73.5q-130 0 -213.5 -104t-83.5 -246q0 -117 58 -190.5t165 -73.5q91 0 160.5 52t103 128.5t33.5 160.5z" id="x1D442"></path></g><g transform="matrix(.017,-0,0,-.017,13.118,12.138)"><path d="M300 -147l-18 -23q-106 71 -159 185.5t-53 254.5v1q0 139 53 252.5t159 186.5l18 -24q-74 -62 -115.5 -173.5t-41.5 -242.5q0 -130 41.5 -242.5t115.5 -174.5z" id="x28"></path></g><g transform="matrix(.017,-0,0,-.017,18.999,12.138)"><path d="M559 163q-23 -66 -68 -163h-474l6 26q62 4 79.5 19.5t28.5 75.5l78 409q7 35 8.5 49t-8 25t-24 13t-51.5 5l5 28h266l-6 -28q-65 -5 -79.5 -18t-25.5 -74l-76 -406q-10 -57 14 -75q12 -13 96 -13q93 0 126 29q41 40 76 109z" id="x1D43F"></path></g>
<g transform="matrix(.012,-0,0,-.012,28.7,16.212)"><path d="M244 607q0 -25 -15.5 -43t-37.5 -18q-19 0 -32 13t-13 35q0 21 15 41t39 20q20 0 32 -14t12 -34zM222 91q-29 -33 -79 -68t-75 -35q-13 0 -19 7.5t-6 31t10 65.5l62 253q5 26 -1 26q-21 0 -72 -43l-13 24q43 40 91 68t71 28q30 0 10 -78l-71 -274q-8 -30 3 -30
q16 0 76 48z" id="x1D456"></path></g>
<g transform="matrix(.017,-0,0,-.017,32.575,12.138)"><path d="M275 270q0 -296 -211 -440l-19 23q75 62 116.5 174t41.5 243t-42 243t-116 173l19 24q211 -144 211 -440z" id="x29"></path></g>
</svg> with generation index <svg height="11.4625" id="M401" style="vertical-align:-0.1638pt" version="1.1" viewbox="0 0 4.7624998 11.4625" width="4.7624998" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink">
<g transform="matrix(.017,-0,0,-.017,.062,11.2)"><path d="M244 607q0 -25 -15.5 -43t-37.5 -18q-19 0 -32 13t-13 35q0 21 15 41t39 20q20 0 32 -14t12 -34zM222 91q-29 -33 -79 -68t-75 -35q-13 0 -19 7.5t-6 31t10 65.5l62 253q5 26 -1 26q-21 0 -72 -43l-13 24q43 40 91 68t71 28q30 0 10 -78l-71 -274q-8 -30 3 -30
q16 0 76 48z" id="x1D456"></path></g>
</svg>, big scale, showing the effect of boundaries being violated at first generations. </table>

Mathematical Problems in Engineering

fig7

Figure 7

Figure 7: Nonlinear Nonconvex Optimization by Evolutionary Algorithms Applied to Robust Control 