Optimization of PID based Cart-Inverted Pendulum System using GA-LQR

To control the nonlinear inverted pendulum system, PID and LQR control techniques have been proposed. This paper described the method for problem of swing up control and stabilize the pendulum system. Controlling of angle of pendulum has been done with PID and LQR is implemented to stabilize the pendulum at upright(vertical) position. The optimal matrices of LQR obtained using GA. These matrices helped to find the feedback gain of the system with performance index (PI). In this paper time response specification has been noted down considering with these proposed controllers. And showed that these controllers stabilize this nonlinear system very quickly and smoothly. Some time response parameters have been improved in this paper. The simulation results are done with MATLAB Simulink.