Optimization of the parameters of PID controller on the model of inverted pendulum by using algorithm of particle swarm optimization

Abstract

In the paper, two models for adjustment of the parameters of PID controller are analyzed. The first one is conventional relay method, which is based on artificially induced oscillations in the system. The second is unconventional, metaheuristics method of particle swarm optimization. Comparative results of the object simulation are managed by a controller, the parameters of which are adjusted by using these two methods. Inverted pendulum is used as controlled plant. The model of the object is determined by applying bond graph methodology. A response of non-linear and linear model for different initial conditions is analyzed.