Tuning of PID Controller of Inverted Pendulum using Genetic Algorithm
K.Chakraborty1, R. R. Mukherjee2, S.Mukherjee3
1Kunal Chakraborty, is a final year student of M.Tech in the department of Electrical Engineering of Asansol Engineering college Kanyapur, Vivekananda Sarani, Asansol, Burdwan. He received his B.Tech degree in Electrical Engineering from West Bengal
2Rabi Ranjan Mukherjee, is a final year student of M.Tech in the department of Electrical Engineering of Asansol Engineering college Kanyapur, Vivekananda Sarani, Asansol, Burdwan. He received his B.Tech degree in Electrical Engineering from West Bengal.
3Suvobratra Mukherjee, is a final year student of M.Tech in the department of Electrical Engineering of Asansol Engineering college Kanyapur, Vivekananda Sarani, Asansol, Burdwan-713305. He received his B.Tech degree in Electrical Engineering from West Bengal.
Manuscript received on February 07, 2013. | Revised Manuscript received on February 29, 2013. | Manuscript published on March 05, 2013. | PP: 21-24 | Volume-3 Issue-1, March 2013. | Retrieval Number: A1280033113/2013©BEIESP
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© The Authors. Published By: Blue Eyes Intelligence Engineering and Sciences Publication (BEIESP). This is an open access article under the CC BY-NC-ND license (http://creativecommons.org/licenses/by-nc-nd/4.0/)
Abstract: This paper presents different types of mathematical modelling of Inverted Pendulum and also a Proportional Intregal-Derative (PID) controller is designed for its stabilization. After desiging of PID controller some reference stable system has been selected and then different types of error has been optimized (minimized) by using Genetic algorithms. The proposed system extends classical inverted pendulum by incorporating two moving masses. Also a tuning mechanism is done by genetic algorithm for optimizing different gains of controller parameter. Also here different performance indeces are calculated in MATLAB environment. This paper addresses to demonstrate the capability of genetic algorithm’s to solve complex and constraint optimization problems via utilizing GA’s as a general purpose optimizing tool to solve different control system design problems. Index Terms-Inverted pendulum, Mathematical modelling, swing up control ,PID controller, Tuning, Genetic Algorithm, Performance Indeces, Error minimization.
Keywords: Proportional Intregal-Derative, Genetic Algorithm.