Optimal Robust Motion Controller Design Using Multiobjective Genetic Algorithm

<table class="table-group" id="tab2"><tr><td><table class="table"><tr><td class="thead-hr" colspan="2"><hr/></td></tr><tr class="thead"><td align="center" colspan="2">Uncertainty parameters</td></tr><tr><td class="thead-hr" colspan="2"><hr/></td></tr><tr><td align="left"><span style="width: 18.7875px;"><svg height="13.8875" id="M284" style="vertical-align:-0.15048pt" version="1.1" viewbox="0 0 18.7875 13.8875" width="18.7875" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink">
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</svg> kgm<sup>2</sup></td></tr><tr><td align="left"><span style="width: 21.512501px;"><svg height="11.425" id="M286" style="vertical-align:-0.0pt" version="1.1" viewbox="0 0 21.512501 11.425" width="21.512501" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink">
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<g transform="matrix(.012,-0,0,-.012,97.462,7.613)"><path d="M535 230h-483v50h483v-50z" id="x2212"></path></g><g transform="matrix(.012,-0,0,-.012,104.447,7.613)"><path d="M285 378v-2q65 -13 102 -54.5t37 -97.5q0 -57 -30.5 -104.5t-74 -75t-85.5 -42t-72 -14.5q-31 0 -59.5 11t-40.5 23q-19 18 -16 36q1 16 23 33q13 10 24 0q58 -51 124 -51q55 0 88 40t33 112q0 64 -39 96.5t-88 32.5q-29 0 -64 -11l-6 29q77 25 118 57.5t41 84.5
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</svg> Nms</td></tr><tr><td align="left"><span style="width: 27.762501px;"><svg height="16.3125" id="M288" style="vertical-align:-3.13504pt" version="1.1" viewbox="0 0 27.762501 16.3125" width="27.762501" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink">
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<g transform="matrix(.012,-0,0,-.012,19.512,16.25)"><path d="M619 482q0 -69 -40.5 -119t-96 -72.5t-118.5 -26.5h-44l-70 20l-31 -151q-14 -67 0.5 -83t89.5 -22l-5 -28h-287l8 28q65 7 81.5 22t29.5 83l79 398q12 56 0.5 70.5t-78.5 20.5l7 28h255q108 0 164 -43t56 -125zM524 478q0 141 -146 141q-25 0 -47 -8q-16 -6 -20.5 -13.5
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</svg> Nm/A</td></tr><tr class="table-tr"><td colspan="2"><hr class="tbody-hr"/></td></tr></table></td></tr></table>

Uncertainty parameters of the positioning system. 

The Scientific World Journal

tab2

Table 2

Table 2: Optimal Robust Motion Controller Design Using Multiobjective Genetic Algorithm 