OPTIMIZATION OF PID CONTROLLER FOR INVERTED PENDULUM SYSTEM USING GENETIC ALGORITHM

• Main Author: JAMALUDDIN, NURUL FIRDAUS
• Format: Final Year Project
• Language: English
• Published: Universiti Teknologi Petronas 2005
• Subjects: TK Electrical engineering. Electronics Nuclear engineering
• Online Access: http://utpedia.utp.edu.my/7744/1/2005%20-%20OPTIMIZATION%20OF%20PID%20CONTROLLER%20FOR%20INVERTED%20PENDULUM%20SYSTEM%20USING%20GENETIC%20ALGORITHM.pdf; http://utpedia.utp.edu.my/7744/

The proportional-integral-derivative controller or commonly known as PID Controller has been widely used in the industries since the 1940s and remains the most often used today. In this project, PID Controller of an Inverted Pendulum System is optimized using Genetic Algorithms (GA) approach. Currently, the Inverted Pendulum System as available in the laboratory is controlled by PID Controller. However, ample time is required by the pendulum to change its position from downward to upright and to be stabilized. Therefore, GA will be applied to overcome this problem. The main objective of this project is to find the optimum stable point, which is the optimum value ofKP, K} andKD of the PIDController using GA approach. The second objective of this project is to reduce the time required for the pendulum to be stabilized. In order to complete this project, a few stages need to be carried out. The stages include problem identification, research on GA, understand the principle of PID Controller and Inverted Pendulum, obtain stable region, create GA coding via MATLAB and conduct test on the real Inverted Pendulum System. Before optimization technique using GA can be applied, the stable region for the desired system needs to be obtained first. In this project, Nyquist Stability Criterion is utilized to obtain the stable region. Once the stable region is obtain, GA is then been applied where the optimum value of KP, Ki and KD within the stable region are determined. For this project, MATLAB Software and Double Inverted Pendulum Trainer are required. Therefore, the understanding on those software and hardware are vital.