Controller Design for Rotary Inverted Pendulum System Using Evolutionary Algorithms

摘要

This paper presents evolutionary approaches for designing rotational inverted pendulum (RIP) controller including genetic algorithms (GA), particle swarm optimization (PSO), and ant colony optimization (ACO) methods. The goal is to balance the pendulum in the inverted position. Simulation and experimental results demonstrate the robustness and effectiveness of the proposed controllers with regard to parameter variations, noise effects, and load disturbances. The proposed methods can be considered as promising ways for control of various similar nonlinear systems.