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1、HindawiPublishingCorporationMathematicalProblemsinEngineeringVolume2011,ArticleID572424,17pagesdoi:10.1155/2011/572424ResearchArticleControllerDesignforRotaryInvertedPendulumSystemUsingEvolutionaryAlgorithmsIrajHassanzadeh1,2andSalehMobayen1,21RoboticsResearchL
2、aboratory,ControlEngineeringDepartment,FacultyofElectrical&ComputerEngineering,UniversityofTabriz,P.O.Box5166616471,Tabriz,Iran2DepartmentofElectricalandComputerEngineering,UniversityofAlberta,Edmonton,AB,CanadaT6G2V4CorrespondenceshouldbeaddressedtoIrajHassanz
3、adeh,ihassanz@ualberta.caReceived25December2010;Revised4May2011;Accepted5August2011AcademicEditor:PeterWolenskiCopyrightq2011I.HassanzadehandS.Mobayen.ThisisanopenaccessarticledistributedundertheCreativeCommonsAttributionLicense,whichpermitsunrestricteduse,dist
4、ribution,andreproductioninanymedium,providedtheoriginalworkisproperlycited.ThispaperpresentsevolutionaryapproachesfordesigningrotationalinvertedpendulumRIPcontrollerincludinggeneticalgorithmsGA,particleswarmoptimizationPSO,andantcolonyoptimizationACOmet
5、hods.Thegoalistobalancethependulumintheinvertedposition.Simulationandexperimentalresultsdemonstratetherobustnessandeffectivenessoftheproposedcontrollerswithregardtoparametervariations,noiseeffects,andloaddisturbances.Theproposedmethodscanbeconsideredaspromisingwa
6、ysforcontrolofvarioussimilarnonlinearsystems.1.IntroductionDuringthepastdecades,manymoderncontrolmethodologiessuchasnonlinearcontrol,optimalcontrol,adaptivecontrol,andvariablestructurecontrolhavebeenwidelyproposedforcontrolapproaches13.However,thesemethodsare
7、theoreticallycomplexanddifficulttoimplement.Also,proportional-integral-derivativePIDcontrollerisawell-knownmethodforindustrialcontrolprocesses.Thelaterapproachhasbeenbroadlyemployedinindustriesbecauseofitssimplestructureandrobustperformanceinawiderangeofoperati
8、ngconditions3.Unfortunately,ithasbeendifficulttotuneupPIDcontrollergainsaccuratelybecausemanyindustrialplantsareoftenverycomplexconsistingofissuessuchashigherorder,timedelay
