Performances Comparison of The Bees Algorithm and Genetic Algorithm for PID Controller Tuning

Abstract

The inverted pendulum system is a classical benchmarking problem which is used to compare of optimization algorithms in the design of the controller. This paper presents the design of PID controllers for Inverted Pendulum (IP) system using The Bees Algorithm (BA) and Genetic Algorithm (GA) both of which are two evolutionary heuristics are population-based search methods. The main goal of the study is get optimal gains for PID controllers based on the two different tuning algorithm to balance the pendulum in upright stable position while moving the cart to a desired input. The optimization aim is to minimize of the objective function which includes the time domain responses of the cart's position and the pendulum's angle. To comparison the performances of the BA and GA, algorithms are run on the nonlinear model of the system which is designed in MATLAB/Simulink/SimMechanics. The effectiveness comparison of the BA and GA is implemented using the responses of system controlled by PID controllers with tuned gains. The obtained simulation results indicate that the BA and GA approaches have similar performances in this study and both of them had better performance compared to traditional methods.