Science and Education Publishing World Journal Control Science and Engineering 1 1 2013 11 05 Controllers Tuning through Multi-objective Non-Dominated Sorting Genetic Algorithms 15 24 EN CHOURAQUI Samira Department of Computer Science, University of Sciences and Technology USTO’MB, El Mnouar, Algeria BENZATER Habiba WJCSE2013113 10.12691/wjcse-1-1-3 2013 10 10 2013 11 02 2013 11 05 In control system design there are often a number of design objectives to be considered. The objectives are sometimes connecting and no design exists which can be considered best with respect to all objectives. Hence, there is an inevitable tradeoff between design objectives, for example, between and output performance objective and stability robustness. These considerations have led to the study of multi objective optimization methods for control systems. In this paper a multi-objective Non-Dominated sorting genetic Algorithms NSGA-II is used to tuning of Proportional Derivative (PD) controller of a six freedom arm manipulator PUMA560. The NSGAII algorithm searches for the controller PD gains so that the six values of Integral Absolute Error (IAE) in joint space are minimized. Simulation numerical results of multivariable PD control and convergence of the NSGA-II are presented and discussed.