An Improved DC Motor Position Control Using Differential Evolution Based Structure Specified H∞ Robust Controller
Abstract
Traditional synthesis of an H∞ controller usually results in a very high order of controller that is not practical for a low-cost embedded system such as a microcontroller. This paper presents a synthesis method of a low-order H∞ robust controller to control the position of a dc motor. The synthesis employed Differential Evolution optimization to find a controller that guarantees robust stability performance and robust stability against system perturbation. A second-order PID structure was chosen for the synthesized controller because this structure is simple and very famous. The proposed controller performance under uncertainties was compared to some other controllers. The first was compared with a conventional PID controller that had been finely tuned using the trial and error method in the nominal transfer function of the plant. Secondly, the proposed controller was compared with a full-order H∞ robust controller generated from a traditional synthesis method. Thirdly, the proposed controller was compared with another structure specified H∞ robust controller generated differently from the proposed method. All of the controllers result in a stable response. However, the proposed controller gives a better response in terms of overshoot and response time.
Keywords
DC Motor; Robust Control; H∞ Control; Differential Evolution; PID
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PDFDOI: http://dx.doi.org/10.26555/jiteki.v7i2.21103
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Jurnal Ilmiah Teknik Elektro Komputer dan Informatika
ISSN 2338-3070 (print) | 2338-3062 (online)
Organized by Electrical Engineering Department - Universitas Ahmad Dahlan
Published by Universitas Ahmad Dahlan
Website: http://journal.uad.ac.id/index.php/jiteki
Email 1: jiteki@ee.uad.ac.id
Organized by Electrical Engineering Department - Universitas Ahmad Dahlan
Published by Universitas Ahmad Dahlan
Website: http://journal.uad.ac.id/index.php/jiteki
Email 1: jiteki@ee.uad.ac.id
Email 2: alfianmaarif@ee.uad.ac.id
Office Address: Kantor Program Studi Teknik Elektro, Lantai 6 Sayap Barat, Kampus 4 UAD, Jl. Ringroad Selatan, Tamanan, Kec. Banguntapan, Bantul, Daerah Istimewa Yogyakarta 55191, Indonesia