Publication result detail

PID CONTROLER PARAMETERS SETTINGS BASED ON GENETIC ALGORITHM FOR INVERTED PENDULUM PURPOSE STABILIZATION

MARADA, T.

Original Title

PID CONTROLER PARAMETERS SETTINGS BASED ON GENETIC ALGORITHM FOR INVERTED PENDULUM PURPOSE STABILIZATION

English Title

PID CONTROLER PARAMETERS SETTINGS BASED ON GENETIC ALGORITHM FOR INVERTED PENDULUM PURPOSE STABILIZATION

Type

Scopus Article

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

Inverted pendulum, Genetic algorithm, Penalty in the objective function, PID controller, ITAE criterion.

Key words in English

Inverted pendulum, Genetic algorithm, Penalty in the objective function, PID controller, ITAE criterion.

Authors

MARADA, T.

RIV year

2017

Released

08.06.2016

Location

Brno

ISBN

1803-3814

Periodical

Mendel Journal series

Volume

2016

Number

22

State

Czech Republic

Pages from

31

Pages to

38

Pages count

8

BibTex

@article{BUT128262,
  author="Tomáš {Marada}",
  title="PID CONTROLER PARAMETERS SETTINGS BASED ON GENETIC ALGORITHM FOR INVERTED PENDULUM PURPOSE STABILIZATION",
  journal="Mendel Journal series",
  year="2016",
  volume="2016",
  number="22",
  pages="31--38",
  issn="1803-3814"
}