Design and Implementation of a Fuzzy Logic Controller for Inverted Pendulum System Based on Evolutionary Optimization Algorithms

Abstract

The inverted pendulum is a standard classical problem in the branch ofcontrol and systems. If a cart is bushed by force then its position and angleof the pendulum will be changed. Several controllers may employed,keeping the pendulum arm upright by controlling at the cart location. Inthis search paper, the fuzzy-like PID (FPID) controller has been used tocontrol the inverted pendulum, and the parameters of the controller aretuned with several evolutionary optimization algorithms like a geneticalgorithm (GA), ant colony optimization (ACO), and social spideroptimization (SSO.) The result of tuned FPID with evolutionaryoptimization is compared with conventional PID, and it shows that FPIDwith SSO has been given the best result.

Keywords

• inverted pendulum
• mathematical model
• fuzzy pid
• genetic. algorithm
• ant colony optimization
• social spider optimization