Abstract

In this study, in addition to the classical Proportional-Integral-Derivative (PID) controller used for the angle control of the inverted pendulum system in the equilibrium position, it is aimed to improve the PID controller parameters with optimization techniques inspired by nature such as Genetic Algorithm (GA) and Particle Swarm Optimization (PSO). By means of these algorithms, the gain parameters of the PID controller are optimized based on certain performance criteria. In order to evaluate the system performance, a hybrid fitness function is defined by using the Integral of Squared Error (ISE) and Integral of Time-weighted Absolute Error (ITAE) criteria, which take into account the error magnitude and the time response of the system. As a result of the simulation studies, it is observed that GA and PSO based controllers increase the system performance compared to the classical PID controller and provide the pendulum to come to equilibrium faster and more stably. The obtained results show that the nature-inspired algorithms provide an effective and efficient approach in the control of nonlinear and complex systems

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