OPTIMIZATION OF PID PARAMETERS BASED ON PARTICLE SWARM OPTIMIZATION FOR BALL AND BEAM SYSTEM

Abstract

This paper introduces the application of an optimization technique, known as Particle Swarm Optimization (PSO) algorithm to the problem of tuning the Proportional-Integral-Derivative (PID) controller for a linearized ball and beam control system. After describing the basic principles of the Particle Swarm Optimization, the proposed method concentrates on finding the optimal solution of PID controller in the cascade control loop of the Ball and Beam Control System. Ball and Beam control system tends to balance a ball on a particular position on the beam as defined by the user. The efficiency of Particle Swarm Optimization algorithm for tuning the controller will be compared with a classical method, Trial and Error method. The comparison is based on the time response performance. The two tuning methods have been developed by simulation study using Matlab\ m-file software. The evaluations show that Evolutionary method Particle Swarm Optimization (PSO) algorithm gives a much better response than trial and error method.