Creative Evolutionary Systems

10 Genetic Programming

2 9 4

=~~==~~=~.~~~:~~~~~

derivative should be used in the controller (or, for that matter, that a P, I, or D

block should be used). The evolutionary process discovered that these elements

were helpful in producing a good controller for this problem. That is, necessity

was the mother of invention. Similarly, the user did not preordain any particular

topological arrangement of proportional, integrative, derivative, second deriva-

tive, or other functions within the automatically created controller. Instead, ge-

netic programming automatically created a robust controller for the given plant ...