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Computación y Sistemas

Print version ISSN 1405-5546

Comp. y Sist. vol.18 n.2 México Apr./Jun. 2014 

Artículos regulares


Two-Degrees-of-Freedom Robust PID Controllers Tuning Via a Multiobjective Genetic Algorithm


Sintonización de controladores PID robustos de dos grados de libertad mediante un algoritmo genético multiobjetivo


José Rubén Lagunas-Jiménez1, Víctor Moo-Yam1, and Benjamín Ortíz-Moctezuma2


1 Universidad Autónoma de Campeche, Campeche, Mexico,

2 Universidad Politécnica de Victoria, Tamaulipas, Mexico



In this paper, a design methodology for a proportional integral derivative (PID) control design is presented by means of the statement of a multiobjective optimization problem (MOP). Two-degrees-of-freedom controller (PID-ISA) is used. The objective functions are deployed considering a set point response, load disturbances and robustness to model uncertainty as its components. The time constant of measurement noise filter is a component of the vector of decision variables. The optimization problem is solved by means of a genetic algorithm.

Keywords: Multiobjective optimization, two-degrees-of-freedom PID controller, robustness, uncertainty, genetic algorithm.



En este artículos e presenta una metodología de diseño de controladores PID (Proporcional, Integral y Derivativo), de dos grados de libertad mediante el planteamiento de un problema de optimización multiobjetivo. Las funciones objetivo propuestas consideran entre otros: respuesta de referencia al escalón, perturbación de carga y robustez ante incertidumbre en el modelado. También se incluye un filtro para minimizar el ruido de medición y la constante de tiempo se incluye en el vector de variables de decisión. El problema de optimización se resuelve con un algoritmo genético.

Palabras clave: Optimización multiobjetivo, controlador PID de dos grados de libertad, robustez, incertidumbre, algoritmo genético.





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