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The Scientific World Journal
Volume 2014, Article ID 978167, 15 pages
Research Article

Optimal Robust Motion Controller Design Using Multiobjective Genetic Algorithm

1Faculty of Electrical Engineering and Computer Science, University of Maribor, Smetanova 17, 2000 Maribor, Slovenia
2Margento B.V., Crystal Tower, Orlyplein 10, 1043 DP Amsterdam, The Netherlands

Received 28 February 2014; Accepted 18 March 2014; Published 8 May 2014

Academic Editors: N. Barsoum, V. N. Dieu, P. Vasant, and G.-W. Weber

Copyright © 2014 Andrej Sarjaš et al. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.


This paper describes the use of a multiobjective genetic algorithm for robust motion controller design. Motion controller structure is based on a disturbance observer in an RIC framework. The RIC approach is presented in the form with internal and external feedback loops, in which an internal disturbance rejection controller and an external performance controller must be synthesised. This paper involves novel objectives for robustness and performance assessments for such an approach. Objective functions for the robustness property of RIC are based on simple even polynomials with nonnegativity conditions. Regional pole placement method is presented with the aims of controllers’ structures simplification and their additional arbitrary selection. Regional pole placement involves arbitrary selection of central polynomials for both loops, with additional admissible region of the optimized pole location. Polynomial deviation between selected and optimized polynomials is measured with derived performance objective functions. A multiobjective function is composed of different unrelated criteria such as robust stability, controllers’ stability, and time-performance indexes of closed loops. The design of controllers and multiobjective optimization procedure involve a set of the objectives, which are optimized simultaneously with a genetic algorithm—differential evolution.