Optimization of a self-tuning PID type fuzzy controller and a PID controller for an inverted pendulum

Article type: Research Article

Authors: Ahmadi, Ahmadreza | Abdul Rahim, Herlina | Abdul Rahim, Ruzairi

Affiliations: Faculty of Electrical Engineering, UniversitiTeknologi Malaysia, Johor, Malaysia

Note: [] Corresponding author. Herlina Abdul Rahim, Faculty of Electrical Engineering, UniversitiTeknologi Malaysia, 81310 UTM Skudai, Johor, Malaysia. E-mail: [email protected]

Abstract: By relating to the conventional PID and PID type fuzzy, an optimized PID type fuzzy controller and an optimized PID controller are designed for an inverted pendulum with two outputs. The optimized PID type fuzzy tunes its scaling factors on line. The optimization is done by imperialist competitive algorithm (ICA). The simulation results show a better performance in overshoot, settling time, rise time, integral absolute error, and robustness in compared to the conventional and self-tuning designs.

Keywords: PID type fuzzy controller, imperialist competitive algorithm, inverted pendulum, PID controller

DOI: 10.3233/IFS-130877

Journal: Journal of Intelligent & Fuzzy Systems, vol. 26, no. 4, pp. 1987-1999, 2014