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This paper presents the results obtained when using a multi-objective genetic algorithm for tuning the gains of a PID controller for position control. To evaluate this approach, the plant to control is a robot manipulator with 2 degrees of freedom (DOF), which has the following characteristics: The dynamic model is not linear, it is a system of multiple input and multiple output (MIMO) and it has a coupling on the dynamics of each joint. As a result a set of gains that stabilize the system with an overshoot and settling time relatively low was obtained. 171 Research in Computing Science 113 (2016) pp. 171–180; rec. 2016-03-10; acc. 2016-05-15

Sintonizador fuera de línea de un controlador PID discreto usando un algoritmo genético multiobjetivo