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Journal of Applied Sciences
Year: 2008  |  Volume: 8  |  Issue: 16  |  Page No.: 2907 - 2912

PSO-Based Controller Design for Rotary Inverted Pendulum System

Iraj Hassanzadeh and Saleh Mobayen    

Abstract: 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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