Design Controller of Pendulum System using Imperialist Competitive Algorithm

Abstract

Abstract-Due to development of technology in recent years, complexity and nonlinearity of mechanical and electrical system are increasing significantly. Inverted pendulum is nonlinear system that has become popular in recent years. However, inverted pendulum is nonlinear and unstable system. Therefore appropriate design controller of inverted pendulum system is crucial. Hence, this paper proposed, design of inverted pendulum system based on imperialist competitive algorithm (ICA). In order to design the controller, dynamic model of inverted pendulum system is used. Time domain simulation is used to address the controller performance. From the simulation result, it is found that imperialist competitive algorithm can be used to design inverted pendulum system controller.

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“…The ICA algorithm will work based on Objective Function, which minimizes Integral Time Absolute Error (ITAE). Implementation of ICA has also been widely used because the results are very optimal in doing the computation process, some of these studies [8] for Power System Stabilizer, [9] for pendulum control. …”

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“…2 shows the block diagram of the relationship between the error signal and the magnitude of integral output. The error signal consists of the reference signal and the actual signal [10,13]. Derivative controller output has the same properties as derivatives operations.…”

“…Fig. 3 illustrates the block diagram of the relationship between the error signals to the controller output [10,13]. Each of the disadvantages and advantages of the proportional, integral and derivative controller can be handled by combining all three in parallel connection.…”

“…1 shows the block diagram of the relationship between the magnitude of the error and the magnitude of proportional controller output. The error signal represents the difference between the reference signal and the feedback signal from the system [10,13]. The purpose of the integral controller is to produce a system response with zero steady state error.…”

“…Hence an appropriate and robust controller is crucial. Proportional, integral and derivative is one of the most popular controllers among industrial practitioners [10][11][12][13].…”