Genetic Algorithm and Particle Swarm Optimization Based Cascade Interval Type 2 Fuzzy PD Controller for Rotary Inverted Pendulum System

Table 1

The summary of the parameters values of RIP.

Symbol	Description	Value	Unit
	Mass of pendulum	0.127	kg
	Total length of pendulum	0.337	m
	Pendulum moment of inertia about its centre of mass	0.0012	kg⋅m^2
	Pendulum viscous damping coefficient as seen at the pivot axis	0.0024	N⋅m⋅s/rad
	Length of pendulum centre of mass	0.156	m
	Rotary arm length	0.168	m
	Rotary arm viscous damping coefficient as seen at the pivot axis	0.0024	N⋅m⋅s/rad
	Rotary arm moment of inertia about its centre of mass	0.000998	kg⋅m^2
	Motor armature resistance	2.6	Ω
	Motor current-torque constant	0.00768	N-m/A
	Motor back-emf constant	0.00768	V/(rad/s)
	High-gear total gear ratio	70
	Motor efficiency	69	%
	Gearbox efficiency	90	%
	Equivalent moment of inertia as seen at the load	0.0036	kg⋅m^2
	Equivalent viscous damping coefficient as seen at the load	0.004	Nms/rad