Journal Published Online: 09 September 2020
Volume 49, Issue 4

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

CODEN: JTEVAB

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, India
Priyanka, E. B.
Department of Mechatronics Engineering, Kongu Engineering College, Perundurai, India
Thangavel, S.
Department of Mechatronics Engineering, Kongu Engineering College, Perundurai, India
Gomathi, K.
Department of Mechatronics Engineering, Kongu Engineering College, Perundurai, India
Pages: 15
Price: $25.00
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Details
Stock #: JTE20200158
ISSN: 0090-3973
DOI: 10.1520/JTE20200158