Optimal feedback control design using genetic algorithm applied to inverted pendulum

Hamid Reza Pourshaghaghi, Mohammad Reza Jaheh-Motlagh, Ali Akbar Jalali

Research output: Chapter in Book/Report/Conference proceedingConference contributionAcademicpeer-review

5 Citations (Scopus)

Abstract

This paper introduces an application of genetic algorithm (GA) to determine weighting matrices Q and R elements in Linear Quadratic Regulator (LQR) optimization process. The weighting matrices, Q and R are the most important components in LQR optimization and determine the output performances of the system. Commonly, a trial-and-error method has been used to construct the elements of these matrices. This method is simple, but very difficult to choose the best values that have good control performances. Because of this, the Bryson method can be employed to give better results. In this paper, we use GA to construct the weighting matrices Q and R properly with help of Bryson method. This idea gives a new alternative procedure in time varying feedback control to improve the stability performance. This design implemented in an inverted pendulum as a benchmark control problem.

Original languageEnglish
Title of host publication2007 IEEE International Symposium on Industrial Electronics, ISIE 2007, Proceedings
PublisherIEEE Computer Society
Pages263-268
Number of pages6
ISBN (Print)1424407559, 9781424407552
DOIs
Publication statusPublished - 1 Dec 2007
Event2007 IEEE International Symposium on Industrial Electronics (ISIE 2007) - Caixanova - Vigo, Spain
Duration: 4 Jun 20077 Jun 2007

Conference

Conference2007 IEEE International Symposium on Industrial Electronics (ISIE 2007)
Abbreviated titleISIE2007
CountrySpain
CityCaixanova - Vigo
Period4/06/077/06/07

Fingerprint Dive into the research topics of 'Optimal feedback control design using genetic algorithm applied to inverted pendulum'. Together they form a unique fingerprint.

  • Cite this

    Pourshaghaghi, H. R., Jaheh-Motlagh, M. R., & Jalali, A. A. (2007). Optimal feedback control design using genetic algorithm applied to inverted pendulum. In 2007 IEEE International Symposium on Industrial Electronics, ISIE 2007, Proceedings (pp. 263-268). [4374609] IEEE Computer Society. https://doi.org/10.1109/ISIE.2007.4374609