Adaptive Lqg Based Stabilization And Energy Based Ga Tuned Pd Swing Up Controller Design For Rotary Inverted Pendulum

Abstract

This Thesis Presents About Adaptive Linear Quadratic Gaussian (LQG) Stabilizing Controller Design And An Energy-Based Genetic Algorithm (GA) Tuned Proportional Derivative (PD)Swing-Up Controller For Rotary Inverted Pendulum. Rotary Inverted Pendulum (RIP) Is Highly Nonlinear Dynamic And Unstable Under Actuated System, Which Is Composed Of The Rotating Arm And The Pendulum With Two Degrees Of Freedom. The Arm Is Mounted On The DC Motor Shaft And Rotated To The Horizontal Plane By The DC Motor And The Pendulum Is Swinging On The Arm With A Revolute Joint By Receiving The Signal From The DC Motor.Mathematical Modeling, Controller Design Methods, And Linearization Techniques Are Applied To This System For The Selection Of Different Controllers. The Main Objective Is To Balance This Pendulum In The Upright Position On The Arm Pivot. Adaptive Inversecontrol Technique Will Be Applied To Each Linear Quadratic Gaussian Control Signals. Anadaptive Inverse Control Method Is Used For Compensation Of Unknown Parameters Ofa Rotary Inverted Pendulum, While The LQG Method Is Used To Cancel Non-Linearity In The System By Linearizing The Parameters Of The System. LQG Controller Stabilizes An Adaptive Signal By Avoiding The Robustness Of The System's Nonlinearity. The Energy-Based GA Tuned PD Swing-Up Controller Is Needed To Control RIP From Swinging Up In Some Degree. In Addition, GA Is Used For Optimizing The Parameters Of The PD Controller. The Hybrid Of Adaptive And LQG With Energy Based GA Tuned PD Swing-Up Controller Gives A Better Performance For The Stability Of1 RIP . The Output Results Are Analyzed Using The Controller Response And The Output Of The EBPDSUC And PDSUC Controllers Are Compared. All The Processes Are Done Using MATLAB / SIMULINK.