Optimal Weighting Matrices Design for LQR Controller Based on Genetic Algorithm and PSO

摘要

In this paper, considering some important indices such as closed-loop pole locations, speed of response and combining them into an objective function an optimization problem is defined in order to select the weighting matrices in Linear Quadratic Regulator (LQR) controller. To solve this optimization problem the Genetic Algorithm (GA) and Particle Swarm Optimization (PSO) are utilized and compared. The proposed method is applied to rotational inverted pendulum. Simulation results show the relative superiority of PSO over GA.