Evolutionarily multiobjective PID control for linear brushless DC motors

This paper presents a robust output tracking control design for a linear brushless DC motor with modeling uncertainties. Frequency-domain design specifications directly related to the mixed sensitivity function and control energy consumption are imposed to ensure stability and performance robustness. A generalized two-parameter PID control framework is developed via an evolution algorithm, which searches the available solutions over certain specified domain. The proposed design paradigm is intuitive and practical in the sense that it offers an effective way to implement simple but robust solutions covering a wide range of plant perturbation and, in addition, provides excellent tracking performance without resorting to excessive control. Experimental and numerical studies are discussed.