Optimization of PID Gain Parameters for Precise Positioning System

Yap, Kian Jiunn (2019) Optimization of PID Gain Parameters for Precise Positioning System. Final Year Project (Bachelor), Tunku Abdul Rahman University College.

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Abstract

The inverted pendulum system is a classic example of nonlinear system and this system is also a well-known benchmark in dynamics and control system for testing with specific control theories or other typical solutions. This project aim is to design an optimized Proportional Integral Derivative (PID) for the classical inverted pendulum system that able to precisely control the position of pendulum maintaining vertically upright position when disturbance is exist using three differences Evolutionary algorithms namely; Genetic Algorithms (GA), Particle Swarm Optimization (PSO) and Ant Colony Optimization (ACO). In this project, an inverted pendulum model is drawn using SOLIDWORKS then convert into MATLAB Simulink using simscape multibody link functions. This allowed stimulation based on virtual model imitate an actual inverted pendulum response to observe the movement of cart in compensating disturbance and the posture of inverted pendulum after compensating the disturbance instead of using mathematical model of inverted pendulum to evaluate and compare the balancing performances of the optimized PID controller with different optimization method. The result shows that PSO is the better choice of optimization method compared to other two method for searching optimum solution for such system. In this project the optimized gain parameter of PID using PSO is Kp=228.82, Ki=273.163, Kd=98.989 which are selected based on simulated results in terms of ITAE.