Design of a novel genetic algorithm stabilizer for swing-up stabilization of rotational inverted pendulum system

摘要

This article proposes a novel technique to simultaneously optimize several performance indices of a swing-up stabilizer using genetic algorithm. The design purpose is to attain a desired performance of the system by minimizing an optimization index containing steady-state error, overshoot, settling time and rise-time of the response. Then, by minimizing the cost function using genetic algorithm, the optimal Lyapunov-based control parameters are assigned. A rotary inverted pendulum system is considered as a case study. Simulation results are given to demonstrate the efficiency of the suggested control law, to be considered as a promising technique for the control of similar nonlinear systems.