APPLICATION OF REAL TIME GENETIC ALGORITHM TO POSITIONING SERVO SYSTEM

The positioning servo system is controlled by a conventional feedback controller and a feedforward controller. The real time genetic algorithm is used to tune on line the parameters of the feedforward controller, the objective of which is to make the feedforward controller a inverse model of the plant. The tracking error between the desired output and the actual output is used to calculate the fitness of individuals. The range of mutation is dependent on the magnitude of the tracking error, which ensures parameter convergence. The experimental results demonstrate that tracking performance and disturbance rejection are greatly improved because of the incorporation with the real time genetic algorithm.