TUNING OF PID CONTROLLER OF INVERTED PENDULUM USING GENETIC ALGORITHM

P. Kumar, O.N. Mehrotra, J. Mahto

Abstract: The paper presents two different ways of mathematical modeling of Inverted Pendulum. A Proportional-Integral-Derative (PID) controller is designed for its stabilization. Some reference stable system is selected after designing of PID controller to optimize different types of error using Genetic Algorithms. The proposed system extends classical inverted pendulum by incorporating two moving masses. A tuning mechanism is implemented by genetic algorithm for optimizing different gains of controller parameter. Also, different performance indices are calculated in MATLAB environment. This paper exhibits to demonstrate the capability of genetic algorithm to solve complex and constraint optimization problems and as a general purpose optimization tool to solve control system design problems.

Keywords: Inverted pendulum,Mathematical modelling,swing up control ,PID controller,Tuning,Genetic Algorithm,Performance Indeces,Error minimization

DOI: https://doi.org/10.15623/ijret.2012.0103029