abstract = "A new method for the automated synthesis of nonlinear
control laws for nonlinear control systems using
grammatical evolution is presented. The controller
structure, its parameterization and a quadratic
Lyapunov function are the result of a nonlinear,
nonconvex optimisation process. Evolutionary algorithms
based on grammatical evolution are used to find
candidates for the control law. These are evaluated
using a fitness function incorporating eigenvalue
specifications on the linearized closed loop system and
bounds on the control input signals. The guaranteed
domain of attraction subject to the closed loop
performance and stability specifications is maximised
by evaluating the solution of the Lyapunov equation on
the nonlinear system. The method is tested on two
different control systems that contain different types
of nonlinearities. The results show that the proposed
approach is capable of outperforming state of the art
methods by providing stronger stability guarantees
and/or better",