Optimization of PID Parameters Based on Genetic Algorithm Optimization for Ball and Beam System

Abstract

This paper applies Genetics Algorithms (GA) for tuning PID controller of ball and beam system. PID controller is used to control the output position of the system. A process model of the ball and beam system is defined based on its mathematical model. Using this model, an offline PID parameters optimization based on GA is done. The chromosome in GA represents PID parameters namely proportional gain (Kp), integral gain (Ki), and derivative gain (Kd). The objective functions are settling time and overshoot. The experimental results show that the step response of this GA-based PID controller has superior performance than it using PSO and trial and error.