OPTIMIZATION OF PID CONTROLLER FOR INVERTED PENDULUM SYSTEM USING GENETIC ALGORITHM

The proportional-integral-derivative controller or commonly known as PID
Controller has been widely used in the industries since the 1940s and remains the
most often used today. In this project, PID Controller of an Inverted Pendulum
System is optimized using Genetic Algorithms (GA) approach. Currently, the
Inverted Pendulum System as available in the laboratory is controlled by PID
Controller. However, ample time is required by the pendulum to change its position
from downward to upright and to be stabilized. Therefore, GA will be applied to
overcome this problem. The main objective of this project is to find the optimum
stable point, which is the optimum value ofKP, K} andKD of the PIDController using
GA approach. The second objective of this project is to reduce the time required for
the pendulum to be stabilized. In order to complete this project, a few stages need to
be carried out. The stages include problem identification, research on GA, understand
the principle of PID Controller and Inverted Pendulum, obtain stable region, create
GA coding via MATLAB and conduct test on the real Inverted Pendulum System.
Before optimization technique using GA can be applied, the stable region for the
desired system needs to be obtained first. In this project, Nyquist Stability Criterion is
utilized to obtain the stable region. Once the stable region is obtain, GA is then been
applied where the optimum value of KP, Ki and KD within the stable region are
determined. For this project, MATLAB Software and Double Inverted Pendulum
Trainer are required. Therefore, the understanding on those software and hardware
are vital.