Optimal Robust Motion Controller Design Using Multiobjective Genetic Algorithm

Table 3

RIC control requirements.

Feedback loop RIC requirements
Settling time	𝑡𝑠<1.4 s
Nominal plant overshooting	𝑀Pn<3%
Worst-case plant overshooting	𝑀worst<20%
Tracking accuracy	𝑒error<|0.0015| rad
Tracking reference frequency	[0÷1] rad/s
Input disturbance rejection	|0.05| Nm, [0÷0.2] rad/s
Output disturbance rejection	|0.5| rad, [0÷0.5] rad/s
Input current limit	±1.5 A
Voltage limit	±14.8 V
Robust stabilization
Stable and low-order controllers	𝐾,𝐶