Abstract
In this paper, an application of genetic algorithm to a feedforward controller of speed servo and positioning systems is considered. The system consists of a conventional feedback controller and a feedforward controller with a genetic algorithm. Parameters of the feedforward controller are regarded as a chromosome of gene. The genetic algorithm is used to tune the parameters of the feedforward controller, the objective of which is to make the feedforward controller a dynamic inverse of the plant. The tracking error between the desired output and the actual output every sampling period is used to calculate the fitness of one gene. The range of mutation is dependent on the magnitude of the tracking error, which ensures the convergence of the parameters. The effect of the fitness function and the range of mutation on tracking performance is investigated. The experimental results demonstrate the effectiveness of the proposed genetic algorithm.
