Journal of Applied Sciences1812-56541812-5662Asian Network for Scientific Information10.3923/jas.2008.2907.2912HassanzadehIrajMobayenSaleh122008816This 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.]]>Gaing, Z.L.,2004Haupt, R.L. and S.E. Haupt,1998Kennedy, J. and R. Eberhart,1995Kwok, D.P., T.P. Leung and F. Sheng,1993Muskinja, N. and B. Tovornik,2006Rahmat-Samii, Y.,2003Visioli, A.,2001Yan, Q.,2003Zhou, G. and J. Birdwell,1994