Abstract
This paper has investigated the NPIC (Nonlinear proportional integral Controller) and Genetic algorithm has applied to obtain the minimum value of error. The objective function has been created using Integral absolute error (IAE) This controller provides a unique combination of proportional and integral controller along with a nonlinear factor present in the controller. which makes the controller much more effective in comparison to linear controller, as it has always remained a challenge to control a robotic manipulator which is highly non linear. so this controller provides an approach to control a nonlinear manipulator through nonlinear controller. He abstracts should summarize the contents of the paper in short terms, i.e., 150-250 words.
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