说明：  In this paper, a robust PID control scheme is proposed for the permanent magnet synchronous motor (PMSM) using a genetic searching approach. Genetic algorithms (GAs) are powerful searching algorithms based on the mechanics of natural selection and natural genetics. Based on a simple genetic algorithm, a set of PID parameters can be obtained such that the robust stability for the closed-loop system is guaranteed, the tracking performance is minimized subject to certain related cost function, and the disturbance rejection ability (H∞ performance) subject to a prescribed attenuation level can also be achieved