Genetic high-gain controller to improve the position perturbation attenuation and compact high-gain controller to improve the velocity perturbation attenuation in inverted pendulums

Abstract

From the control theory, bigger observer and controller gains are utilized to improve the position perturbation attenuation, while smaller observer and controller gains are utilized to improve the velocity perturbation attenuation. Therefore, it would be interesting to suggest optimizers to find the best observer and controller gains to improve the position or velocity perturbation attenuation. In this investigation, a high-gain controller is suggested to obtain the perturbation attenuation, a genetic high-gain controller is suggested to improve the position perturbation attenuation, and a compact high-gain controller is suggested to improve velocity perturbation attenuation in inverted pendulums. The high-gain controller utilizes a high-gain observer and a high-gain estimator to obtain the state and perturbation estimation. The genetic high-gain controller utilizes a genetic optimizer to find the best observer and controller gains. The compact high-gain controller utilizes a compact optimizer to find the best observer and controller gains. The suggested high-gain controllers are compared with the simplex and bat controllers to improve the position or velocity perturbation attenuation in two inverted pendulums.

Keywords: Compact optimizer; Genetic optimizer; High-gain controller; Inverted pendulums; Position perturbation attenuation; Velocity perturbation attenuation.