Tuning of PID Controller of Inverted Pendulum Using Genetic Algorithm
نویسنده
چکیده
This paper presents different types of mathematical modelling of Inverted Pendulum and also a Proportional-Intregal-Derative (PID) controller is designed for its stabilization. After desiging of PID controller some reference stable system has been selected and then different types of error has been optimized (minimized) by using Genetic algorithms. The proposed system extends classical inverted pendulum by incorporating two moving masses. Also a tuning mechanism is done by genetic algorithm for optimizing different gains of controller parameter. Alsohere different performance indeces are calculated in MATLAB environment. This paper addresses to demonstrate the capability of genetic algorithm’s to solve complex and constraint optimization problems via utilizing GA’s as ageneral purpose optimizing tool to solve different control system design problems. Keyword Inverted Pendulum,Mathematical Modelling,Swing Up Control, PID Controller, Tuning, Genetic Algorithm, Performance Indeces, Error Minimizatio.
منابع مشابه
Tuning of Pid Controller of Inverted Pendulum Using Genetic Algorithm
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 masse...
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