Design of Two-Loop PID Controller for Inverted Cart-Pendulum System Using Modified Genetic Algorithm

摘要

This study focuses on the design of controllers for inverted cart-pendulum system. This cart-pendulum system, a nonlinear one, has been linearized around the equilibrium point to obtain linearized model transfer function. In this paper, the design of two-loop proportional integral derivative (PID) controller that gives more flexibility to control the inverted cart-pendulum system has been considered and the controller parameters have been optimized through modified genetic algorithm (GA). Furthermore, other methods such as LQR and LQG have been applied to verify closed loop response of the system for unit step signal. A performance comparison between the above mentioned techniques is investigated and the analysis shows superiority of two-loop PID controller in terms of both overshoot and settling time as compared to other mentioned methods. A comprehensive analysis of robustness to model uncertainties will be incorporated in the future work.