IDENTIFY PARAMETERS OF THE PID CONTROLLER FOR THE INVERTED PENDULUM SYSTEM USING METAHEURISTIC OPTIMIZATION ALGORITHM

Abstract

The inverted pendulum and cart system is one of the classic nonlinear systems commonly used in nonlinear control. The PID controller is widely used, giving the best results in the absence of the control system's mathematical model. However, to achieve the best performance, PID parameters need to be calculated and selected appropriately for each system. This paper proposes a method to determine parameters of the PID controller the inverted pendulum position using Jaya optimization algorithm. Besides, the paper will compare the results of the algorithm with other control methods such as LQR, linearization ...