Optimize PID Controller Parameters Using Particle Swarm Optimization in Inverted Pendulum Control

Abstract

This paper proposes a solution using the particle swarm optimization (PSO) to self-correct and simultaneously optimize the parameters of the PID controllers in the inverted pendulum control system with the purpose to make the tolerances of arm angles and pendulum angles are the smallest, helping to keep the pendulum balanced. The rotary inverted pendulum is a very interesting object, which represents a class of control objects with complex nonlinearities and is used as a common model for many applications in control engineering. Based on the modeling of the inverted pendulum system with the use of PID controllers whose parameters Kp, Ki, Kd are selected experimentally, usually still make the knife system large dynamics and does not reach a steady state. Therefore, the proposed solution has shown its superiority through the results of system simulation by Simulink_matlab tool, the parameters Kp, Ki, Kd of the two PID controllers have been adjusted, updated intending to make the system stable faster. If simultaneously increasing the number of generations 15, 20 and 30 corresponding to the number of individuals of 20, 30, and 50, the Adaptation Function converges very quickly, the arm angle theta and the pendulum angle alpha stabilize faster.