Application of Evolutionary Techniques for Controller Design of Inverted Pendulum

Abstract

Abstract

Inverted pendulum is the typical experiment platform for the study of control theories. It is an example of a nonlinear system for which stability becomes the necessary feature and also hard to achieve. The mechanism of a PID controller is employed to demonstrate the projected controller and controller is designed for acceleration as well as angle control. This paper emphasizes on the comparison between conventional PID, genetic algorithm (GA) and particle swarm optimization (PSO) based PID tuning of an inverted pendulum system to gain stability. Conventional PID was designed using MATLAB/Simulink environment, and the PIDs gains were tuned until an optimum response is achieved. On the other hand, GA-PID and PSO-PID aim for the stabilizing inverted pendulum by minimizing objective functions based on integral absolute error (IAE), integral square error (ISE), integral time absolute error (ITAE) and integral time square error (ITSE). The comparison of GA-PID and PSO-PID is done for different objective functions based on performance indices and it is observed that among all ITSE gives the minimum value for PSO-PID.

Keywords: Objective function, pendulum acceleration, genetic algorithm, particle swarm optimization, performance indices, PID controller

Cite this Article

Nidhi Singh Pal, Udai Singh. Mishra. Application of Evolutionary Techniques for Controller Design of Inverted Pendulum. Journal of Microelectronics and Solid-State Devices. 2019; 6(3): 1–10p.