Abstract
The Rotary Inverted Pendulum (RIP) system is a significant classical problem of control engineering which has been investigated in the past decades. This study presents an optimum Input- Output Feedback Linearization (IOFL) cascade controller utilized Genetic Algorithm (GA). Due to the non-minimum phase behavior of the system, IOFL controller leads to unstable internal dynamics. Therefore a cascade structure is proposed consisting IOFL controller for inner loop with PD controller forming the outer loop. The primary design goal is to balance the pendulum in an inverted position. The control criterion is to minimize the Integral Absolute Error (IAE) of system angles. By minimizing the objective function related to IAE using Binary Genetic Algorithm (BGA), the optimal controller parameters can be assigned. The results verified capability and competent characteristics of the proposed controller. The method can be considered as a promising way for control of various similar nonlinear and under-actuated systems.
Highlights
Feedback linearization is a control design approach for nonlinear systems which attracted lots of research in recent years[1,2,3]
The inputoutput feedback linearization law consists of inverting the system dynamics given a nonlinear change of coordinates and a feedback law
Another PD controller, optimized using Genetic Algorithm (GA) is applied to the pre-stabilized system to prevent unstable internal dynamics
Summary
Feedback linearization is a control design approach for nonlinear systems which attracted lots of research in recent years[1,2,3]. Even though the design of controllers for nonlinear systems has been well researched, the conventional input-output linearization techniques will perform very poorly when it deals with output tracking[2,4]. We present the Binary Genetic Algorithm for designing controller parameters for the new input and formulate the design procedure as an optimization problem[5,6,7].
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