Modeling and Control of a Rotational Inverted Pendulum Applying Multi-objective Optimization Techniques

Abstract

This article shows the application of multi-objective optimization techniques, both for the identification of parameters of a model and for the adjustment of controllers. In particular, we propose a technique to identify the parameters of a first principles model of a rotational inverted pendulum applying a methodology of multi- objective optimization and experimental data. Also the methodology extends to the tuning of PID and PI controllers for the mentioned system. For multiobjective optimization, an implementation based on evolutionary algorithms has been used, ev-MOGA Herrero et al., 2007). For the analysis phase of the front solutions, we use the Pareto front visualization tool called level diagram (Blasco et al., 2017), which allows to successfully explore a set of Pareto optimal solutions and select one of them according to the preferences of the designer. The advantage oered by this methodology is the easy understanding of the conflicts that appear among the design objectives, allowing to select a compromise solution according to the preferences of the designer, without losing sight of the set of optimal solutions found.

Keywords

• Optimización evolutiva multiobjetivo
• identificación no lineal
• frente de Pareto
• modelado
• control PID