Mathematical Problems in Engineering
Volume 2011 (2011), Article ID 572424, 17 pages
Research Article

Controller Design for Rotary Inverted Pendulum System Using Evolutionary Algorithms

1Robotics Research Laboratory, Control Engineering Department, Faculty of Electrical & Computer Engineering, University of Tabriz, P.O. Box 5166616471, Tabriz, Iran
2Department of Electrical and Computer Engineering, University of Alberta, Edmonton, AB, Canada T6G 2V4

Received 25 December 2010; Revised 4 May 2011; Accepted 5 August 2011

Academic Editor: Peter Wolenski

Copyright © 2011 Iraj Hassanzadeh and Saleh Mobayen. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.


This paper presents evolutionary approaches for designing rotational inverted pendulum (RIP) controller including genetic algorithms (GA), particle swarm optimization (PSO), and ant colony optimization (ACO) methods. The goal is to balance the pendulum in the inverted position. Simulation and experimental results demonstrate the robustness and effectiveness of the proposed controllers with regard to parameter variations, noise effects, and load disturbances. The proposed methods can be considered as promising ways for control of various similar nonlinear systems.