Genetic Algorithm based FOPID Controller Design for Balancing an Inverted Pendulum (IP)

摘要

The aim of this manuscript is to formulate a Genetic Algorithm (GA) based Fractional Order PID Controller (GA-FOPIDC) for monitoring the CP, CV, and AP of an IP under abnormal circumferences. In this methodology, the traditional PID is re-constructed with the fractional order concept to update the control execution. The GA-FOPIDC is a new strategy and its parameters animatedly vary based on the error signal e(t). The approval of the better execution of GA-FOPIDC is built up by relative outcome examination with other existing control techniques. The relative outcomes obviously disclose the superior execution of the recommended strategy to monitor the model dynamics inside a steady range as for the accuracy, stability, and robustness.