A Study of PID Controller for Parallel Double-Linked Rotary Inverted Pendulum

Abstract

One-linked Rotary Inverted Pendulum is a classical model in control automation. Many directions of development to increase the complication is operated, such as, putting more link to create two-linked, three-linked… systems. Another direction which is less popular is creating a parallel double-linked rotary inverted pendulum. In this paper, we build a PID controller through investigation the operation of system for balancing this model and use genetic algorithm to find suitable control parameters. Genetic algorithm also show its ability in optimizing PID controller under different generations. These surveys are operated in Matlab/Simulink.

Keywords

• parallel rotary inverted pendulum
• pid control
• genetic algorithm
• optimizing controller
• balancing control