Preparation of Papers in Two-Column Format - International Journal ...

Amplitude
Tuning Of PID Controller Of Inverted Pendulum Using Genetic Algorithm
1.4
1.2
1
0.8
0.6
Step Response
PID
GA PID
Mr.kunal chakraborty is a lecturer of IMPS
engineering college, Malda. He recived his B.Tech
degree from Haldia Institute of Technology in 2010.
He also a final year student of Asansol Engineering
College of M.Tech in Electrical Department. He has a
numbers of publications[Both in Journals & in
Proceedings of Conferences, National &
International]. His research interests are in control
system,Measurement.
0.4
0.2
0
0 0.1 0.2 0.3 0.4 0.5 0.6 0.7 0.8 0.9 1
Time (sec)
Fig. 7.ISE GA PID Controller of cart
Mr Rabi Ranjan Mukherjee is a final year student in
M.Tech in the Department of Electrical Engineering,
Asansol Engineering College, Kanyapur, Vivekananda
Sarani, Asansol, Burdwan-713305, India. He received
his B.Tech degree in Electrical Engineering from West
Bengal University of Technology in the year 2010. He
has a numbers of publications[Both in Journals & in
Proceedings of Conferences, National & International]. His research
interests are in control system.
Mr.Suvobratra Mukherjee is a final year student of
M.Tech in the department of Electrical Engineering
of Asansol Engineering college Kanyapur,
Vivekananda Sarani, Asansol, Burdwan-713305. He
received his B.Tech degree in Electrical Engineering
from West Bengal University of Technology in the
year 2007. He is also an Assistant Professor in Dept.
of E.E, IMPS Engineering College, Malda. He has
two & one number of publications in National &
International Conferences.
Fig. 8.ITSE GA PID Controller of cart
CONCLUSION
Modelling of inverted pendulum shows that system is
unstable with non-minimum phase zero. Results of applying
PID controllers show that the system can be stabilized.
while PID controller method is cumbersome because of
selection of constants of controller, Constant of the
controllers can be tuned by some Genetic Algorithm
technique for better result if same order of reference model
like our system is chosen then the result will be
comparatively better. If Walsh function can be used in
equation (1&2) then we will directly find out the solution of
non-linear differential equations and non-linear controller
can be designed.
REFERENCES
[1] Elmer P. Dadias, Patrick S. Fererandez, and David J,”Genetic
Algorithm on Line Controller For The Flexible Inverted Pendulum
Problem”, Journal Of Advanced Computational Intelligence and
Intelligent Informatics
[2] R. Murillo Garcia1, F. Wornle1, B. G. Stewart1 and D. K. Harrison1,
“Real-Time Remote Network Control of an Inverted Pendulum using
ST-RTL”, 32nd ASEE/IEEE Frontiers in Education Conference
November 6 - 9, 2002, Boston, MA.
[3] DONGIL CHOI and Jun-Ho Oh “Human-friendly Motion Control of
a Wheeled Inverted Pendulum by Reduced-order Disturbance
Observer” 2008 IEEE International Conference on Robotics and
Automation Pasadena, CA, USA, May 19-23, 2008.
[4] W. Wang, “Adaptive fuzzy sliding mode control for inverted
pendulum,” in Proceedings of the Second Symposium International
Computer Science and Computational Technology(ISCSCT ’09)
uangshan, P. R. China, 26-28, Dec. pp. 231-234, 2009.
[5] Berenji HR. A reinforcement learning-based architecture for fuzzy
logic control. International Journal of Approximate Reasoning
1992;6(1):267–92.
[6] I. H. Zadeh and S. Mobayen, “ PSO-based controller for balancing
rotary inverted pendulum, ” J. AppliedSci., vol. 16, pp. 2907-2912
2008.
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