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    Volume 49, Issue 4

    Special Issue Paper

    Genetic Algorithm–Based Robust Controller for an Inverted Pendulum Using Model Order Reduction

    (Received 21 March 2020; accepted 6 July 2020)

    Published Online: 09 September 2020

    CODEN: JTEVAB

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    Abstract

    Robust stabilization is an important characterization to get improved in the control system to optimize the performance of the desired system. Most of the controllers available suffer from problems such as difficulty in the tuning process, sluggishness in response time, quick and global convergence, etc. This paper considered proportional-integral optimized with genetic algorithm (GA-PID)controller on inverted pendulum for the control of the angle position. A MATLAB script for a GA was developed to obtain optimum PID parameters that would keep the pendulum angle at equilibrium (i.e., returns the pendulum to the desired point as quickly as possible) by minimizing an objective function (integral time absolute error [ITAE]). Furthermore, obtained outcomes confirm the performance of holding on the upright position from the downward direction such that the angle of the pendulum is manipulated to control the inverted position in its erect position in a rapid manner. In the experimental analysis, the developed GA-based PID controller is compared with the conventional PID controller to evaluate the performance of the inverted pendulum. The obtained results show that the GA-based PID controller confirms the enhanced performance indexes by holding minimum settling time and peak overshoot on comparing with the conventional PID controller.

    Author Information:

    Pratheep, V. G.
    Department of Mechatronics Engineering, Kongu Engineering College, Perundurai,

    Priyanka, E. B.
    Department of Mechatronics Engineering, Kongu Engineering College, Perundurai,

    Thangavel, S.
    Department of Mechatronics Engineering, Kongu Engineering College, Perundurai,

    Gomathi, K.
    Department of Mechatronics Engineering, Kongu Engineering College, Perundurai,


    Stock #: JTE20200158

    ISSN:0090-3973

    DOI: 10.1520/JTE20200158

    Author
    Title Genetic Algorithm–Based Robust Controller for an Inverted Pendulum Using Model Order Reduction
    Symposium ,
    Committee E60