Modeling of inverted pendulum system with gravitational search algorithm optimized controller
The inverted pendulum (IP) is a common classical control theory problem. Many controllers are used to keep the pendulum rod upraise via the control the position of the cart. In this paper, Modelling of IP system is carried out and then verifies the model through comparison with other models in liter...
| Main Authors: | , , |
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| Format: | Article |
| Language: | English |
| Published: |
Elsevier
2019-03-01
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| Series: | Ain Shams Engineering Journal |
| Online Access: | http://www.sciencedirect.com/science/article/pii/S209044791830073X |
| _version_ | 1831553578441900032 |
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| author | Mohamed Magdy Abdallah El Marhomy Mahmoud A. Attia |
| author_facet | Mohamed Magdy Abdallah El Marhomy Mahmoud A. Attia |
| author_sort | Mohamed Magdy |
| collection | DOAJ |
| description | The inverted pendulum (IP) is a common classical control theory problem. Many controllers are used to keep the pendulum rod upraise via the control the position of the cart. In this paper, Modelling of IP system is carried out and then verifies the model through comparison with other models in literature. The viscous damping effect on the IP system has been also considered in this work. The PID controller is used to control the IP and is tuned by using both Gravitational Search Algorithm (GSA) and Genetic Algorism (GA). Examination of GSA efficiency has been demonstrated, and then comparison with Genetic Algorism (GA) in the tuning of PID controller is presented. The results proved the superiority of the controller which is tuned by using GSA (PID-GSA). Finally, the optimized controller (PID-GSA) performance is checked through carrying out the robustness test. Keywords: Inverted pendulum, PID controller, Genetic algorithm, Gravitational search algorithm, D'Alembert's principle |
| first_indexed | 2024-12-17T03:47:03Z |
| format | Article |
| id | doaj.art-db7d39b59e6b44f1bbbc1d859b38f246 |
| institution | Directory Open Access Journal |
| issn | 2090-4479 |
| language | English |
| last_indexed | 2024-12-17T03:47:03Z |
| publishDate | 2019-03-01 |
| publisher | Elsevier |
| record_format | Article |
| series | Ain Shams Engineering Journal |
| spelling | doaj.art-db7d39b59e6b44f1bbbc1d859b38f2462022-12-21T22:04:52ZengElsevierAin Shams Engineering Journal2090-44792019-03-01101129149Modeling of inverted pendulum system with gravitational search algorithm optimized controllerMohamed Magdy0Abdallah El Marhomy1Mahmoud A. Attia2Department of Engineering Physics and Mathematics, Faculty of Engineering, Ain Shams University, Cairo, Egypt; Corresponding author.Department of Engineering Physics and Mathematics, Faculty of Engineering, Ain Shams University, Cairo, EgyptDepartment of Electrical Power and Machines, Faculty of Engineering, Ain Shams University, Cairo, EgyptThe inverted pendulum (IP) is a common classical control theory problem. Many controllers are used to keep the pendulum rod upraise via the control the position of the cart. In this paper, Modelling of IP system is carried out and then verifies the model through comparison with other models in literature. The viscous damping effect on the IP system has been also considered in this work. The PID controller is used to control the IP and is tuned by using both Gravitational Search Algorithm (GSA) and Genetic Algorism (GA). Examination of GSA efficiency has been demonstrated, and then comparison with Genetic Algorism (GA) in the tuning of PID controller is presented. The results proved the superiority of the controller which is tuned by using GSA (PID-GSA). Finally, the optimized controller (PID-GSA) performance is checked through carrying out the robustness test. Keywords: Inverted pendulum, PID controller, Genetic algorithm, Gravitational search algorithm, D'Alembert's principlehttp://www.sciencedirect.com/science/article/pii/S209044791830073X |
| spellingShingle | Mohamed Magdy Abdallah El Marhomy Mahmoud A. Attia Modeling of inverted pendulum system with gravitational search algorithm optimized controller Ain Shams Engineering Journal |
| title | Modeling of inverted pendulum system with gravitational search algorithm optimized controller |
| title_full | Modeling of inverted pendulum system with gravitational search algorithm optimized controller |
| title_fullStr | Modeling of inverted pendulum system with gravitational search algorithm optimized controller |
| title_full_unstemmed | Modeling of inverted pendulum system with gravitational search algorithm optimized controller |
| title_short | Modeling of inverted pendulum system with gravitational search algorithm optimized controller |
| title_sort | modeling of inverted pendulum system with gravitational search algorithm optimized controller |
| url | http://www.sciencedirect.com/science/article/pii/S209044791830073X |
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