Title: Jaya algorithm-based optimal control for inverted pendulum

Authors: Vinayak Kumar; Ruchi Agarwal

Addresses: Electrical Engineering Department, National Institute of Technology, Patna, India ' Electrical Engineering Department, National Institute of Technology, Patna, India

Abstract: The paper proposes an optimal controller to regulate highly nonlinear inverted pendulum (IP) cart system. It comprises force as a single input and two outputs, i.e., cart position and pendulum angle, thereby controlling the IP cart system is a tedious task for the control engineers. The paper proposes an optimal controller which is composed of linear quadratic regulator (LQR) and proportional, integral and derivative (PID) controller and the controller's gains, e.g., LQR and PID are optimised with Jaya algorithm. The performance of the proposed controller is evaluated and compared with LQR-based PID controller without any optimisation algorithm under steady state as well as transient state condition under MATLAB-Simulink environment. The Jaya-based optimal controller shows better performance as compared to LQR-based PID controller in terms of lower values of rise time, settling time, and peak overshoot and undershoot, etc.

Keywords: Jaya algorithm; LQR; inverted pendulum cart system; IP cart system.

DOI: 10.1504/IJMIC.2023.133185

International Journal of Modelling, Identification and Control, 2023 Vol.43 No.3, pp.179 - 186

Received: 22 May 2022
Received in revised form: 26 Sep 2022
Accepted: 27 Sep 2022
Published online: 01 Sep 2023 *

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