遺伝的プログラミングと非線形制御系設計(<小特集>制御工学への知能科学からの接近)  [in Japanese] Genetic Programming and Control Design of Nonlinear Systems(<Special Feature>Intelligent Systems Science Approach to Control Systems Science)  [in Japanese]

A genetic programming based approach to obtaining optimal/robust controllers for nonlinear systems is introduced. When it comes to control design methods, we have two types of approaches: One is a direct approach, and the other is an indirect one. The former is to directly derive nonlinear controllers making no use of the necessary conditions of the problem, while the latter is to indirectly obtain the controllers by means of the necessary conditions. First, we introduce the direct approach based on the genetic programming, and then we show how to deal with the necessary conditions associated with the problem. Finally, we tackle the stabilization problem using flatness theory. Simulations are given throughout the paper.