Structured loop-shaping ℋ∞ controller design using Particle Swarm Optimization

In this paper, a structured loop-shaping H
_∞
controller design, using Particle Swarm Optimization (PSO) technique, is proposed. The case study of an electrical DC drive benchmark is envisaged to illustrate the efficiency and viability of the proposed control strategy. The optimization-based synthesis problem is formulated and solved by a constrained PSO algorithm. In the proposed approach, a PID controller's structure is adopted. Simulations and experimental results show the advantages of simple structure, lower order and robustness of the proposed controller in relation to the standard design case. A comparison to another similar evolutionary algorithm, such as Genetic Algorithm (GA), shows the superiority of the PSO-based method to solve the optimization-based control design problem.