Controller design for rotary inverted pendulum system using particle swarm optimization algorithm

This paper presents particle swarm optimization approach for designing Rotary Inverted Pendulum (RIP) controller. The goal is to balance the pendulum in the inverted position. The intuition of this work is using state-feedback controller as the stabilizer component of the system whereas in other existing systems, only Proportional-Integral-Derivative (PID) is used for that purpose. Simulation results demonstrate effectiveness of the proposed controller design method and can be considered as promising ways for control of various similar nonlinear systems.