Optimized multiobjective H∞ control applied to inverted pendulum

Hamid Reza Pourshaghaghi; Mohammad Reza Jahed-Motlagh; Allahyar Montazer; Javad Poshtan; Ali Akbar Jalali

doi:10.1109/IECON.2007.4460319

Optimized multiobjective H∞ control applied to inverted pendulum

Hamid Reza Pourshaghaghi, Mohammad Reza Jahed-Motlagh, Allahyar Montazer, Javad Poshtan, Ali Akbar Jalali

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › Academic › peer-review

2 Citations (Scopus)

Abstract

This paper introduces several practical aspects of designing multiobjective problems such as H∞ controllers. We present a procedure to obtain a controller with two degree of freedom (DOF). First we stabilize the nominal system by a conventional controller like LQR. We use genetic algorithm to optimize LQR controller, too. This part of our controller leads to low cost of control input effort, and then we enforce other objectives in the framework of LMI optimization. This procedure leads to less energy consumption in comparison with using LMI methods alone. We design and implement this approach in an inverted pendulum as one of the most commonly nonlinear studied systems in the control area and can be considered as a benchmark for evaluating controlling methodologies.

Original language	English
Title of host publication	Proceedings of the 33rd Annual Conference of the IEEE Industrial Electronics Society, IECON
Place of Publication	Piscataway
Publisher	Institute of Electrical and Electronics Engineers
Pages	938-943
Number of pages	6
ISBN (Print)	1-4244-0783-4 , 9781424407835
DOIs	https://doi.org/10.1109/IECON.2007.4460319
Publication status	Published - 1 Dec 2007
Externally published	Yes
Event	33rd Annual Conference of the IEEE Industrial Electronics Society, IECON 2007 - Taipei, Taiwan Duration: 5 Nov 2007 → 8 Nov 2007 Conference number: 33

Conference

Conference	33rd Annual Conference of the IEEE Industrial Electronics Society, IECON 2007
Abbreviated title	IECON 2007
Country/Territory	Taiwan
City	Taipei
Period	5/11/07 → 8/11/07

Keywords

Genetic algorithm
H∞ performance
Linear quadratic regulator
LMI optimization
Multiobjective control inverted pendulum

UN SDGs

This output contributes to the following UN Sustainable Development Goals (SDGs)

Access to Document

10.1109/IECON.2007.4460319

Cite this

Pourshaghaghi, H. R., Jahed-Motlagh, M. R., Montazer, A., Poshtan, J., & Jalali, A. A. (2007). Optimized multiobjective H∞ control applied to inverted pendulum. In Proceedings of the 33rd Annual Conference of the IEEE Industrial Electronics Society, IECON (pp. 938-943). Article 4460319 Institute of Electrical and Electronics Engineers. https://doi.org/10.1109/IECON.2007.4460319

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title = "Optimized multiobjective H∞ control applied to inverted pendulum",

abstract = "This paper introduces several practical aspects of designing multiobjective problems such as H∞ controllers. We present a procedure to obtain a controller with two degree of freedom (DOF). First we stabilize the nominal system by a conventional controller like LQR. We use genetic algorithm to optimize LQR controller, too. This part of our controller leads to low cost of control input effort, and then we enforce other objectives in the framework of LMI optimization. This procedure leads to less energy consumption in comparison with using LMI methods alone. We design and implement this approach in an inverted pendulum as one of the most commonly nonlinear studied systems in the control area and can be considered as a benchmark for evaluating controlling methodologies.",

keywords = "Genetic algorithm, H∞ performance, Linear quadratic regulator, LMI optimization, Multiobjective control inverted pendulum",

author = "Pourshaghaghi, {Hamid Reza} and Jahed-Motlagh, {Mohammad Reza} and Allahyar Montazer and Javad Poshtan and Jalali, {Ali Akbar}",

year = "2007",

month = dec,

day = "1",

doi = "10.1109/IECON.2007.4460319",

language = "English",

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booktitle = "Proceedings of the 33rd Annual Conference of the IEEE Industrial Electronics Society, IECON",

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note = "33rd Annual Conference of the IEEE Industrial Electronics Society, IECON 2007, IECON 2007 ; Conference date: 05-11-2007 Through 08-11-2007",

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Pourshaghaghi, HR, Jahed-Motlagh, MR, Montazer, A, Poshtan, J & Jalali, AA 2007, Optimized multiobjective H∞ control applied to inverted pendulum. in Proceedings of the 33rd Annual Conference of the IEEE Industrial Electronics Society, IECON., 4460319, Institute of Electrical and Electronics Engineers, Piscataway, pp. 938-943, 33rd Annual Conference of the IEEE Industrial Electronics Society, IECON 2007, Taipei, Taiwan, 5/11/07. https://doi.org/10.1109/IECON.2007.4460319

Optimized multiobjective H∞ control applied to inverted pendulum. / Pourshaghaghi, Hamid Reza; Jahed-Motlagh, Mohammad Reza; Montazer, Allahyar et al.
Proceedings of the 33rd Annual Conference of the IEEE Industrial Electronics Society, IECON. Piscataway: Institute of Electrical and Electronics Engineers, 2007. p. 938-943 4460319.

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › Academic › peer-review

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AU - Pourshaghaghi, Hamid Reza

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AU - Jalali, Ali Akbar

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N2 - This paper introduces several practical aspects of designing multiobjective problems such as H∞ controllers. We present a procedure to obtain a controller with two degree of freedom (DOF). First we stabilize the nominal system by a conventional controller like LQR. We use genetic algorithm to optimize LQR controller, too. This part of our controller leads to low cost of control input effort, and then we enforce other objectives in the framework of LMI optimization. This procedure leads to less energy consumption in comparison with using LMI methods alone. We design and implement this approach in an inverted pendulum as one of the most commonly nonlinear studied systems in the control area and can be considered as a benchmark for evaluating controlling methodologies.

AB - This paper introduces several practical aspects of designing multiobjective problems such as H∞ controllers. We present a procedure to obtain a controller with two degree of freedom (DOF). First we stabilize the nominal system by a conventional controller like LQR. We use genetic algorithm to optimize LQR controller, too. This part of our controller leads to low cost of control input effort, and then we enforce other objectives in the framework of LMI optimization. This procedure leads to less energy consumption in comparison with using LMI methods alone. We design and implement this approach in an inverted pendulum as one of the most commonly nonlinear studied systems in the control area and can be considered as a benchmark for evaluating controlling methodologies.

KW - Genetic algorithm

KW - H∞ performance

KW - Linear quadratic regulator

KW - LMI optimization

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BT - Proceedings of the 33rd Annual Conference of the IEEE Industrial Electronics Society, IECON

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Optimized multiobjective H∞ control applied to inverted pendulum

Abstract

Conference

Keywords

UN SDGs

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