Reduced Order Modeling of Triple Link Inverted Pendulum Using Particle Swarm Optimization Algorithm
نویسنده
چکیده
In recent years, Particle Swarm Optimization has evolved as an effective global optimization algorithm whose dynamics has been inspired from swarming or collaborative behavior of biological populations. In this paper, PSO has been applied to Triple Link Inverted Pendulum model to find its reduced order model by minimization of error between the step responses of higher and reduced order model. Model Order Reduction using PSO algorithm is advantageous due to ease in implementation, higher accuracy and decreased time of computation. The second and third order reduced transfer functions of Triple Link Inverted Pendulum have been computed for comparison. Keywords—Particle Swarm Optimization, Triple Link Inverted Pendulum, Model Order Reduction, Pole Placement technique.
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