Nguyen-Dang-Khoa Tran¹*, Minh-Quan Nguyen², Tuan-Kiet Le², Duy-Khanh Bui², Thanh-Vinh Le², Thi-Ngoc-Thi Vo², Thi-Toi Nguyen², Ngo-Quoc-Bao Pham²

¹ Ton Duc Thang University (TDTU)
19Đ, Nguyen Huu Tho, district 7, Ho Chi Minh city, Vietnam
² Ho Chi Minh city University of Technology and Education (HCMUTE)
Vo Van Ngan, Thu Duc city, Ho Chi Minh city, Vietnam
* Corresponding author. E-mail: dangkhoa.tran195@gmail.com

Robotica & Management, Vol. 28, No. 2, pp. 48-54
DOI: https://doi.org/10.24193/rm.2023.2.9

Abstract: In this paper, we apply genetic algorithm (GA) to optimize LQR controller – a linear control algorithm which stability is guaranteed by mathematics. This searching algorithm proves its ability in finding better control parameters through generations. Our model is ball and beam (B&B) – a classical single input – multi output (SIMO) system. This system is balanced around equilibrium point in simulation.

Keywords: ball and beam, genetic algorithm, LQR control.

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