A real coded genetic algorithm for matrix inequality design approach of robust PID controller with two degrees of freedom

Presents a new, real-coded genetic algorithm and proposes a new design method for a robust PID controller with two degrees of freedom. This design method is based on the matrix inequality and on a real-coded genetic algorithm as an optimization technique. The 2-DOF PID controller designed by the proposed method satisfies the robust stability of a closed-loop system against parametric uncertainties of the plant and multiple design specifications for robust performance. This method is demonstrated by numerical simulations and shows good control performance.