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Pid controlleroptimization for a rotational inverted pendulum using genetic algorithm

Rotational inverted pendulum (RIP) is widely used as a benchmark system in evaluating various control strategies, as it is an ideal test bed that represents under-actuated plants. Although a proportional-integral-derivative (PID) controller is popular and relatively simple in structure, its use in b...

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Main Authors: Selamat, Hazlina, Rani, Mohd. Rahairi, Zamzuri, Hairi, Fauzan, Ahmad
Format: Conference or Workshop Item
Published: 2011
Online Access:http://eprints.utm.my/id/eprint/46151/
http://dx.doi.org/10.1109/ICMSAO.2011.5775461
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spelling my.utm.461512017-08-29T01:33:00Z http://eprints.utm.my/id/eprint/46151/ Pid controlleroptimization for a rotational inverted pendulum using genetic algorithm Selamat, Hazlina Rani, Mohd. Rahairi Zamzuri, Hairi Fauzan, Ahmad Rotational inverted pendulum (RIP) is widely used as a benchmark system in evaluating various control strategies, as it is an ideal test bed that represents under-actuated plants. Although a proportional-integral-derivative (PID) controller is popular and relatively simple in structure, its use in balancing the RIP is usually not recommended due to the difficulties in finding the suitable PID controller parameter values for the RIP system, which has two unstable open-loop poles. Therefore, this paper presents an investigation on a PID tuning problem for stabilizing the RIP using a variant of multi-objective Genetic Algorithm (GA), called the Global Criterion Genetic Algorithm (GCGA). Simulation work has shown that GCGA is capable in tuning the PID controller gains to balance the RIP. Compared to the standard single objective GA, the solutions found in GCGA have better control performances. The optimization results have then been applied to the real RIP in order to validate the results in the real-time environment. 2011 Conference or Workshop Item PeerReviewed Selamat, Hazlina and Rani, Mohd. Rahairi and Zamzuri, Hairi and Fauzan, Ahmad (2011) Pid controlleroptimization for a rotational inverted pendulum using genetic algorithm. In: 4th International Conference On Modeling, Simulation And Applied Optimization (ICMSAO-2011). http://dx.doi.org/10.1109/ICMSAO.2011.5775461
institution Universiti Teknologi Malaysia
building UTM Library
collection Institutional Repository
continent Asia
country Malaysia
content_provider Universiti Teknologi Malaysia
content_source UTM Institutional Repository
url_provider http://eprints.utm.my/
description Rotational inverted pendulum (RIP) is widely used as a benchmark system in evaluating various control strategies, as it is an ideal test bed that represents under-actuated plants. Although a proportional-integral-derivative (PID) controller is popular and relatively simple in structure, its use in balancing the RIP is usually not recommended due to the difficulties in finding the suitable PID controller parameter values for the RIP system, which has two unstable open-loop poles. Therefore, this paper presents an investigation on a PID tuning problem for stabilizing the RIP using a variant of multi-objective Genetic Algorithm (GA), called the Global Criterion Genetic Algorithm (GCGA). Simulation work has shown that GCGA is capable in tuning the PID controller gains to balance the RIP. Compared to the standard single objective GA, the solutions found in GCGA have better control performances. The optimization results have then been applied to the real RIP in order to validate the results in the real-time environment.
format Conference or Workshop Item
author Selamat, Hazlina
Rani, Mohd. Rahairi
Zamzuri, Hairi
Fauzan, Ahmad
spellingShingle Selamat, Hazlina
Rani, Mohd. Rahairi
Zamzuri, Hairi
Fauzan, Ahmad
Pid controlleroptimization for a rotational inverted pendulum using genetic algorithm
author_facet Selamat, Hazlina
Rani, Mohd. Rahairi
Zamzuri, Hairi
Fauzan, Ahmad
author_sort Selamat, Hazlina
title Pid controlleroptimization for a rotational inverted pendulum using genetic algorithm
title_short Pid controlleroptimization for a rotational inverted pendulum using genetic algorithm
title_full Pid controlleroptimization for a rotational inverted pendulum using genetic algorithm
title_fullStr Pid controlleroptimization for a rotational inverted pendulum using genetic algorithm
title_full_unstemmed Pid controlleroptimization for a rotational inverted pendulum using genetic algorithm
title_sort pid controlleroptimization for a rotational inverted pendulum using genetic algorithm
publishDate 2011
url http://eprints.utm.my/id/eprint/46151/
http://dx.doi.org/10.1109/ICMSAO.2011.5775461
_version_ 1643651950635384832
score 13.211869

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