PID tuning using MOGA for joint position regulation of a pendular device

This paper presents an application of the Multi-Objective Genetic Algorithm (MOGA) for PID tuning capable of achieving good performance in the joint position regulation of a pendulum coupled to a servo-motor, and without exceed the motor nominal voltage. The performance is calculated using optimization indices as integral square error and integral time square error. Since the motor nominal voltage plays a key role in the performance of the controller, as well as the overshoot response of the joint position, the novelty of our proposal is that we have added the voltage magnitude and the overshoot response as additional performance indices. Experimental results on a commercial pendular device are presented to validate the proposed scheme, and a comparison is carried out with two other PID tuning methods to test its superiority.