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Limits of the universe of discurse of
x
2
0
-2
0
0.2
0.4
0.6
0.8
1
1.2
1.4
1.6
1.8
2
Time (s)
10
5
0
-5
-10
0
0.2
0.4
0.6
0.8
1
1.2
1.4
1.6
1.8
2
Time (s)
Fig. 4.9
Simulation for different initial conditions
Universe of discurse of
x
10
8
6
4
2
0
-2
-4
-6
-8
10
-
-3
-2
-1
0
1
2
3
x
1
Fig. 4.10
Phase portrait
As minimization algorithm has been used a hybrid scheme based on a basic
genetic algorithm for global exploration (Goldberg
1989
), followed by the numeri-
cal algorithm by Nelder and Mead (
1965
) for local deepening (Andújar et al.
2009
).
Comparing the antecedents of the plant and the controller can see how the initializa-
tion based on the Algorithm 4.4 has been performed.
Figures
4.9
and
4.10
show, respectively, evolution of the closed loop system from
different initial conditions and the phase portrait of this.
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