Application of Genetic Algorithm in Optimizing LQR Control for Ball and Beam

Abstract

In this paper, we apply genetic algorithm (GA) to optimize LQR controller – a linear control algorithm which stability is guaranteed by mathematics. This searching algorithm proves its ability in finding better control parameters through generations. Our model is ball and beam (B&B) – a classical single input – multi output (SIMO) system. This system is balanced around equilibrium point in simulation.

Keywords

• ball and beam
• genetic algorithm
• lqr control