الفهرس Only 14 pages are availabe for public view
 |  | from | 152 |  |  |
| | | from | 152 | | |
Abstract
Inverted pendulum is one of the most excited problems in dynamics and control theory. It{u2019}s Single Input Multi Output (SIMO) problem. PI, PID and FOPID controllers with feed forward gain based on Reduced Linear Quadratic Regulator (RLQR) are applied to the IP system. Tuning the Controllers’ gains is achieved by using Particle Swarm Optimization (PSO) technique. The objective function is designed to give minimum settling time, rise time, undershoot and over shoot for both the cart position and the pendulum angle