Publication detail
PID CONTROLER PARAMETERS SETTINGS BASED ON GENETIC ALGORITHM FOR INVERTED PENDULUM PURPOSE STABILIZATION
MARADA, T.
English title
PID CONTROLER PARAMETERS SETTINGS BASED ON GENETIC ALGORITHM FOR INVERTED PENDULUM PURPOSE STABILIZATION
Type
journal article in Scopus
Language
en
Original abstract
One of the classical problems in dynamics and control theory is balancing of an inverted pendulum robot by moving a cart along a horizontal path. A real world example of this inverted pendulum system is the attitude control of a rocket booster at take-off. Inverted pendulum stabilization can be performed through several methods. This paper presents capability of inverted pendulum control by two PID (Proportional, Integration, and Derivative) controllers for its stabilization. A genetic algorithm is used to optimizing different controller’s parameters. Different performance indicators and genetic algorithm were implemented and calculated in MATLAB software. Simulink environment was used to simulate the inverted pendulum nonlinear equations with PID controllers. The results of simulations have been mentioned in the experiments and conclusion.
English abstract
One of the classical problems in dynamics and control theory is balancing of an inverted pendulum robot by moving a cart along a horizontal path. A real world example of this inverted pendulum system is the attitude control of a rocket booster at take-off. Inverted pendulum stabilization can be performed through several methods. This paper presents capability of inverted pendulum control by two PID (Proportional, Integration, and Derivative) controllers for its stabilization. A genetic algorithm is used to optimizing different controller’s parameters. Different performance indicators and genetic algorithm were implemented and calculated in MATLAB software. Simulink environment was used to simulate the inverted pendulum nonlinear equations with PID controllers. The results of simulations have been mentioned in the experiments and conclusion.
Keywords in English
Inverted pendulum, Genetic algorithm, Penalty in the objective function, PID controller, ITAE criterion.
Released
08.06.2016
Location
Brno
ISSN
1803-3814
Volume
2016
Number
22
Pages from–to
31–38
Pages count
8
BIBTEX
@article{BUT128262,
author="Tomáš {Marada},
title="PID CONTROLER PARAMETERS SETTINGS BASED ON GENETIC ALGORITHM FOR INVERTED PENDULUM PURPOSE STABILIZATION",
year="2016",
volume="2016",
number="22",
month="June",
pages="31--38",
address="Brno",
issn="1803-3814"
}