الفهرس 
LITERATURE REVIEWOnly 14 pages are availabe for public view
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Abstract
An inverted pendulum is a classic control problem. Due to the importance of its model, many researchers had challenged to get the proper controller for this model. The inverted pendulum system under consideration consists of a rigid rod, movable cart, a motor to drive the cart, and a controller. The governing equations of motion of the system have been derived using D’Alembert’s principle, and Lagrange’s equations.
After studies and investigations on the different optimization techniques, it has been proved that the Hybrid GA-GSA is the most proper one in tuning the controllers and in getting a suitable parameter to decrease the system overshot and settling time.
DC armature controlled motor, universal motor, and switched reluctance motor have been used to drive the system cart. It has been demonstrated that DC armature controlled motor is the most suitable motor for this task, as it has no oscillations within the urban time. PID and PIDA controllers have been used to control the pendulum angle and to move the cart to the desired position.
At the end of this thesis, we have reached to the conclusion that the DC armature controlled motor with PIDA-Hybrid GA-GSA optimized controller IP system yields the best performance to control and stabilize the motion of the IP.
Keywords:
Inverted Pendulum, Motors, PID controller, PIDA controller, Genetic Algorithm, Gravitational Search Algorithm, D’Alembert’s principle, Lagrange’s equations.