Efficient Autonomous Design of Cascade Structure Feedback Controller Parameters Realizing Robust Stabilization

Abstract

Robust stable feedback (FB) controller design considering plant perturbation is crucial in industrial servo systems. However, because the controller parameter design generally requires expert skills and/or considerable labor for engineers, autonomous design technology would be promising. This study presents an efficient autonomous design method that optimizes the parameters of a cascade structure FB controller realizing robust stabilization. The proposed method improves the parameter optimization efficiency compared to that of a conventional method by identifying and eliminating inactive stability constraints. The effectiveness of the proposed method is evaluated through simulating of an example FB controller design for a laboratory galvanometer scanner.