Inverted Pendulum Control System Based on GA Optimization

Abstract

A kind of new GA is put forward by this paper, that calculate way satisfies the control demand of the inverted pendulum. Adopt the gene to carry out the evolution operation for the unit. Cross with the average Euclid distance of the gene control gene with the variation. Adopt the phase margin is the function of penalty that one adaptive degree calculate. Guaranteed the calculate way don't sink into the part to refrain from rash action. Considered the index sign of time domain and robustness of the system to unify at the same time. The good result is through certificated. Applied in the actual engineering by the inverted pendulum PD control parameter that based on the new SAGA acquires excellent results.