Stable Genetic Adaptive Control by Using a 2-DOF Control Scheme

Abstract

This paper introduces an adaptive controller based on the online genetic estimation of the parameters of the system. The main novelty of the paper relies on the fact that the stability of the genetic adaptive scheme is fully tackled proving the boundedness of all systems signals under weak conditions on the genetic population evolution. Thus, the proposed set-up is flexible enough to be integrated within a great variety of genetic estimation algorithms. The goal is achieved by using a certain Two-Degree-of-Freedom (2-DOF) based implementation of the control law. The procedure for the genetic controller synthesis is described while its properties and requirements are stated.