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Optimal State-Feedback Design for Inverted Pendulum System by Flower Pollination Algorithm

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The inverted pendulum system is one of the classical-unstable plants commonly used as a case study in control system design and simulation. To stabilize such system, the state-feedback design is performed by calculating the appropriate feedback gains. The state-feedback design can be considered as the optimization framework. In this paper, optimal state-feedback design for the inverted pendulum system using the flower pollination algorithm (FPA), one of the most efficient metaheuristic optimization techniques, is proposed. Results obtained by the FPA will be compared with those obtained by the conventional design method named the Ackermann’s formula. As simulation results, it was found that the FPA can provide optimal feedback gains for the inverted pendulum system superior to Ackermann’s formula. System responses with state-feedback gains optimized by the FPA yield shorter rise time, smaller overshoot, shorter settling time and zero steady-state error.
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State-Feedback Design; Inverted Pendulum; Flower Pollination Algorithm; Metaheuristic Optimization

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