A Modified Hybrid Genetic Algorithm for Solving Nonlinear Optimal Control Problems

Algorithm 2

The proposed algorithm.

{Initialization} Input the desired precision, , in (13), the penalty parameters,

, in (8), the bounds of control input values in (7), and .

{Phase 1} Perform MHGA with a random population and and .

{Construction of the initial population of the phase 2} Increase time nodes uniformly to

and estimate the corresponding control input values of the new time nodes in each

individual obtained from phase 1, using either Linear or Spline interpolation.

Create new different individuals with time nodes, randomly.

{Phase 2} Perform MHGA with the constructed population and

, and .