Controller Design for Rotary Inverted Pendulum System Using Evolutionary Algorithms.pdfVIP

Hindawi Publishing Corporation Mathematical Problems in Engineering Volume 2011, Article ID 572424, 17 pages doi:10.1155/2011/572424 Research Article Controller Design for Rotary Inverted Pendulum System Using Evolutionary Algorithms Iraj Hassanzadeh1, 2 and Saleh Mobayen1, 2 1 Robotics Research Laboratory, Control Engineering Department, Faculty of Electrical Computer Engineering, University of Tabriz, P.O. Box 5166616471, Tabriz, Iran 2 Department of Electrical and Computer Engineering, University of Alberta, Edmonton, AB, Canada T6G 2V4 Correspondence should be addressed to Iraj Hassanzadeh, ihassanz@ualberta.ca Received 25 December 2010; Revised 4 May 2011; Accepted 5 August 2011 Academic Editor: Peter Wolenski Copyright q 2011 I. Hassanzadeh and S. Mobayen. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited. This paper presents evolutionary approaches for designing rotational inverted pendulum RIP controller including genetic algorithms GA, particle swarm optimization PSO, and ant colony optimization ACO methods. The goal is to balance the pendulum in the inverted position. Simulation and experimental results demonstrate the robustness and effectiveness of the proposed controllers with regard to parameter variations, noise effects, and load disturbances. The proposed methods can be considered as promising ways for control of various similar nonlinear systems. 1. Introduction During the past decades, many modern control methodologies such as nonlinear control, optimal control, adaptive control, and variable structure control have been widely proposed for control approaches 1–3. How