Tuning PID Controller for Inverted Pendulum Using Genetic Algorithm

Abstract

The Proportional Integral Derivative (PID) controllers are extensively used as the controllers for controlling the system outputs. The performance of the system is mainly depends on the parameters of the PID controller. To tune these parameters, various techniques are available, and in these methods, there exists drawbacks. To overcome these drawbacks in this paper, the tuning of PID parameters are done by using genetic algorithm, and it is effectively tested on linear inverted pendulum system (LIP). In addition, extensive simulations are performed by varying parameters of the pendulum. For brevity, comparison is made with Z–N methods of tuning, and it is observed that GA-tuned PID controller is giving better performance.