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J. Ocean Eng. Technol. 2008;22(4):14-19.    

Application to Speed Control of Brushless DC Motor Using Mixed $H_2/H_{infty}$ PID Controller with Genetic Algorithm
Duy Vo Hoang,Hung Nguyen,Jeong Sang-Kwun,Kim Hak-Kyeong,Kim Sang-Bong
Dept. of Mechanical Eng. College of Eng Pukyong National University,Dept. of Mechanical Eng. College of Eng Pukyong National University,Dept. of Mechanical Eng. College of Eng Pukyong National University,Dept. of Mechanical Eng. College of Eng Puk
© 2008 The Korean Society of Ocean Engineers     Open access / Under a Creative Commons License
Keywords: Linear quadratic regulator(LQR), Robust control, Genetic algorithm, Brushless direct current(BLDC) motor$H_2/H_{infty}$ proportional integral derivative(PID) controller
Abstract
This paper proposes a mixed $H_2/H_{infty}$ optimal PID controller with a genetic algorithm based on the dynamic model of a brushless direct current (BLDC) motor and applies it to speed control. In the dynamic model of the BLDC motor with perturbation, the proposed controller guarantees arobust and optimal tracking performance to the desired speed of the BLDC motor. A genetic algorithm was used to obtain parameters for the PID controller that satisfy the mixed $H_2/H_{infty}$ constraint. To implement the proposed controller, a control system based on PIC18F4431 was developed. Numerical and experimental results are shown to prove that the performance of the proposed controller was better than that of the optimal PID controller.
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