Genetic Algorithm Based Self Tuning Regulator for ball and hoop system

Abstract

In this paper, an optimal adaptive controller using Genetic Algorithm for a ball and hoop system is proposed. It is difficult to design an optimal PID controller for a ball and hoop system because of its continuously varying parameters. The proposed scheme employs a PID controller with an ability to adjust its parameters when the dynamic behavior of the system changes, thus maintaining the optimality in the response specifications. Genetic Algorithm is used for both parameter estimation and optimal PID tuning. The system response after applying disturbances shows the robustness of the scheme. Also, there is a remarkable improvement in the transient response specifications compared to the conventional Zeigler Nichols tuning.