1 Department of Control and Systems Engineering, University of Technology, Baghdad, Iraq

2 b Department of Control and Systems Engineering, University of Technology, Baghdad, Iraq


The inverted pendulum is a standard classical problem in the branch of
control and systems. If a cart is bushed by force then its position and angle
of the pendulum will be changed. Several controllers may employed,
keeping the pendulum arm upright by controlling at the cart location. In
this search paper, the fuzzy-like PID (FPID) controller has been used to
control the inverted pendulum, and the parameters of the controller are
tuned with several evolutionary optimization algorithms like a genetic
algorithm (GA), ant colony optimization (ACO), and social spider
optimization (SSO.) The result of tuned FPID with evolutionary
optimization is compared with conventional PID, and it shows that FPID
with SSO has been given the best result.


Main Subjects

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