Multi-optimization of PID controller parameters using stochastic search techniques for rotary inverted pendulum system

Proportional-Integral-Derivative (PID) controller is a well-known controller in various aspects of industrial automation due to its simplicity and effectiveness in design and implementation of industrial applications. However, it has been difficult to tune up PID controller gains accurately because...

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Main Author:	Bejarbaneh, Elham Yazdani
Format:	Thesis
Language:	English
Published:	2012
Subjects:	T Technology (General)
Online Access:	http://eprints.utm.my/id/eprint/32311/1/ElhamYazdaniBejarbanehMFKE2012.pdf
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id	my-utm-ep.32311
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spelling	my-utm-ep.323112017-07-31T07:02:02Z Multi-optimization of PID controller parameters using stochastic search techniques for rotary inverted pendulum system 2012 Bejarbaneh, Elham Yazdani T Technology (General) Proportional-Integral-Derivative (PID) controller is a well-known controller in various aspects of industrial automation due to its simplicity and effectiveness in design and implementation of industrial applications. However, it has been difficult to tune up PID controller gains accurately because of complexity and nonlinearity of industrial plants. Therefore, the selection of controller parameters are usually complex and sometimes are selected via trial and error and from designer’s intuitive and experience, resulting in less optimal performance. The aim of this project is to analyze and formulate multi-optimization methods for the parameters of the PID controller for controlling the angular displacement of pendulum and arm of Rotational Inverted Pendulum (RIP) system. In this project, the RIP system is chosen due to it is known as an inherent nonlinear system which can be a good prospect for control engineering and MATLAB has been also used to simulate and verify the mathematical model. The performance of the PID controller is evaluated and compared when the parameters are automatically optimized using the Model Reference Adaptive Control (MRAC) concept and stochastic algorithms such as Particle Swarm Optimization (PSO) and Differential Evolution (DE) algorithms for satisfying the main goal which is balancing the pendulum in the vertical position . Finally, the results demonstrated the robustness and effectiveness of the designed PID controller by proposed stochastic algorithms in terms of easy implementation, computational cost, complexity and effectiveness. As a conclusion, these proposed stochastic search techniques can be considered as systematic and effective ways to control the various nonlinear industrial plants. 2012 Thesis http://eprints.utm.my/id/eprint/32311/ http://eprints.utm.my/id/eprint/32311/1/ElhamYazdaniBejarbanehMFKE2012.pdf application/pdf en public http://dms.library.utm.my:8080/vital/access/manager/Repository?query=Multi-optimization++of+PID+controller+parameters+using+stochastic+search+techniques&queryType=vitalDismax&public=true masters Universiti Teknologi Malaysia, Faculty of Electrical Engineering Faculty of Electrical Engineering
institution	Universiti Teknologi Malaysia
collection	UTM Institutional Repository
language	English
topic	T Technology (General)
spellingShingle	T Technology (General) Bejarbaneh, Elham Yazdani Multi-optimization of PID controller parameters using stochastic search techniques for rotary inverted pendulum system
description	Proportional-Integral-Derivative (PID) controller is a well-known controller in various aspects of industrial automation due to its simplicity and effectiveness in design and implementation of industrial applications. However, it has been difficult to tune up PID controller gains accurately because of complexity and nonlinearity of industrial plants. Therefore, the selection of controller parameters are usually complex and sometimes are selected via trial and error and from designer’s intuitive and experience, resulting in less optimal performance. The aim of this project is to analyze and formulate multi-optimization methods for the parameters of the PID controller for controlling the angular displacement of pendulum and arm of Rotational Inverted Pendulum (RIP) system. In this project, the RIP system is chosen due to it is known as an inherent nonlinear system which can be a good prospect for control engineering and MATLAB has been also used to simulate and verify the mathematical model. The performance of the PID controller is evaluated and compared when the parameters are automatically optimized using the Model Reference Adaptive Control (MRAC) concept and stochastic algorithms such as Particle Swarm Optimization (PSO) and Differential Evolution (DE) algorithms for satisfying the main goal which is balancing the pendulum in the vertical position . Finally, the results demonstrated the robustness and effectiveness of the designed PID controller by proposed stochastic algorithms in terms of easy implementation, computational cost, complexity and effectiveness. As a conclusion, these proposed stochastic search techniques can be considered as systematic and effective ways to control the various nonlinear industrial plants.
format	Thesis
qualification_level	Master's degree
author	Bejarbaneh, Elham Yazdani
author_facet	Bejarbaneh, Elham Yazdani
author_sort	Bejarbaneh, Elham Yazdani
title	Multi-optimization of PID controller parameters using stochastic search techniques for rotary inverted pendulum system
title_short	Multi-optimization of PID controller parameters using stochastic search techniques for rotary inverted pendulum system
title_full	Multi-optimization of PID controller parameters using stochastic search techniques for rotary inverted pendulum system
title_fullStr	Multi-optimization of PID controller parameters using stochastic search techniques for rotary inverted pendulum system
title_full_unstemmed	Multi-optimization of PID controller parameters using stochastic search techniques for rotary inverted pendulum system
title_sort	multi-optimization of pid controller parameters using stochastic search techniques for rotary inverted pendulum system
granting_institution	Universiti Teknologi Malaysia, Faculty of Electrical Engineering
granting_department	Faculty of Electrical Engineering
publishDate	2012
url	http://eprints.utm.my/id/eprint/32311/1/ElhamYazdaniBejarbanehMFKE2012.pdf
_version_	1747815972047159296

Multi-optimization of PID controller parameters using stochastic search techniques for rotary inverted pendulum system

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