PSO-Based Controller Design for Rotary Inverted Pendulum System

Research Article

PSO-Based Controller Design for Rotary Inverted Pendulum System

This research presents an optimum approach for designing Rotary Inverted Pendulum (RIP) controller using PSO algorithm. The primary design goal is to balance the pendulum in an inverted position and the control criterion is to minimize the integral absolute error of system angles. Simulation results demonstrate the robustness and effectiveness of proposed controller with regard to parameter variations, various reference trajectory and load disturbances. The proposed method can be considered as a promising way for control of various similar nonlinear systems.

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Iraj Hassanzadeh and Saleh Mobayen, 2008. PSO-Based Controller Design for Rotary Inverted Pendulum System. Journal of Applied Sciences, 8: 2907-2912.

DOI: 10.3923/jas.2008.2907.2912

URL: https://scialert.net/abstract/?doi=jas.2008.2907.2912

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Authors

Iraj Hassanzadeh

Saleh Mobayen

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Research Article

PSO-Based Controller Design for Rotary Inverted Pendulum System

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