Automatic cost weight selection in mixed sensitivity H∞ controller synthesis

Abstract This paper presents the tuning of a dynamic ship positioning controller. The procedure is based on a multi-criteria optimization, involving the selection of weighting functions parameters from different structure, which are then used to synthesise H ∞ controllers. The mixed sensitivity approach is employed in the controller synthesis. A Genetic Algorithm generates weighting function candidates and fuzzy logic is incorporated into the solution to emulate the work of a skilled designer searching for optimal solutions. Results are presented and compared to a trial-and-error approach used in a former work.