Modeling of inverted pendulum system with gravitational search algorithm optimized controller

The inverted pendulum (IP) is a common classical control theory problem. Many controllers are used to keep the pendulum rod upraise via the control the position of the cart. In this paper, Modelling of IP system is carried out and then verifies the model through comparison with other models in literature. The viscous damping effect on the IP system has been also considered in this work. The PID controller is used to control the IP and is tuned by using both Gravitational Search Algorithm (GSA) and Genetic Algorism (GA). Examination of GSA efficiency has been demonstrated, and then comparison with Genetic Algorism (GA) in the tuning of PID controller is presented. The results proved the superiority of the controller which is tuned by using GSA (PID-GSA). Finally, the optimized controller (PID-GSA) performance is checked through carrying out the robustness test. (C) 2018 The Authors. Published by Elsevier B.V. on behalf of Faculty of Engineering, Ain Shams University.