Mathematical Problems in Engineering / 2011 / Article / Tab 3

Research Article

Controller Design for Rotary Inverted Pendulum System Using Evolutionary Algorithms

Table 3

Best results of PID controllers with different values gained by PSO, GA, and ACO algorithms in 50 runs.

β % (sec) (sec) (sec) cost

GA10.4734.1180.510.35636.7870.0080.9580.290.000818.21320.908
1.50.6663.2760.4440.24828.340.0081.7760.440.004622.62422.519

PSO10.5513.9890.3980.15322.2430.0081.3010.380.00117.83916.189
1.50.5293.2060.350.11921.8050.0061.240.410.000818.24217.728

ACO10.354.0910.2810.12516.5280.0351.8640.320.002219.90415.513
1.50.5392.8210.4410.2317.570.0081.7210.280.002219.09516.571

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