2014 International Symposium on Computer, Consumer and Control

Inverted pendulum RBF neural network PID controller

design
Yu Jing, Fang Jian
Institute of electrical engineering, Jilin Teachers' Institute of Engineering and Technology,
Changchun 130052, China
E-mail: 757314739 @qq.com
Institute of electrical engineering, Jilin Teachers' Institute of Engineering and Technology,
Changchun 130052, China
E-mail: 757314739 @qq.com
Abstract: in view of the first-order inverted pendulum problem
such as poor stability, large amount of overshoot, using RBF
neural network to PID parameters self-tuning control system.
This paper analyzes the RBF neural network tuning PID
principles, and for an inverted pendulum system simulation.
Simulation results show that the use of RBF neural network
tuning PID controller adaptive ability, good quickness, good
quality control.
Keywords Inverted pendulum,Neural network

I. INTRODUCTION
Inverted pendulum is robotics, control theory, a number of
areas, such as computer-controlled, organic combination of
multiple technologies. It's controlled system itself is an
absolute instability, higher order, multivariable, nonlinear and
strong coupling system can control its object as a typical study.
In the inverted pendulum control, PID control algorithm is a
kind of widely used control method, it has simple structure,
convenient parameter setting. Then when inverted pendulum
walking traffic is more complex, such as a sudden turn, may
cause the system to generate a large overshoot, in addition, if
the PID parameters to adjust properly, will cause the system to
constantly oscillate. In order to eliminate this phenomenon, it
is necessary to improve the PID algorithm.
This paper presents a RFB neural network PID controller,
which can achieve nonlinear characteristics of the inverted
pendulum tracking control. By comparing the simulation
experiment found that a variety of performance RFB neural
network PID controller is much better than the fixed
parameters of PID control system, inverted pendulum system
adjustment time is short, fast convergence, small overshoot.

Figure 1. RBF network structure diagram

In the RBF network structure,

X 
x1 , x 2 ,  x n  as the
T

input vector of the network. The output is a weighted sum of

each hidden layer neuron output. Its excitation function using
pure linear function, corresponding to the input layer q input
produces an output layer neuron output
n

y q is: y q   ri q  w2 i .
i 1

B. RBF neural network tuning PID principle

RBF network tuning PID control block diagram shown in
Figure 2. The PID controller to control the error is:

error ( k )  rin ( k )  yout ( k )

PID three inputs:

II. RBF NEURAL NETWORK PID STRUCTURE AND PRINCIPLE

xc(1)  e(k )  e(k  1)

A. RBF neural network model

RBF (Radial Basis Function Neural Network) is a threelayer feedforward network, which has a single hidden layer,
input to output relationship is non-linear, and the hidden layer
to the output mapping space is linear, accelerate the learning
speed and avoid local minimal problems. RBF network is a
three-layer feedforward network, including input layer, hidden
layer and output layer, its basic structure shown in Figure 1.
978-1-4799-5277-9/14 $31.00 2014 IEEE
DOI 10.1109/IS3C.2014.152

xc ( 2 )  eror ( k )
xc(3)  e(k )  2e(k  1)  e(k  2)

560

2
3
4

PID MATLAB simulation, the unit step input response curve

as follows:

Figure 2. RBF network tuning PID control block

Control algorithm is:

u (k )  u (k )  k p (e(k )  e(k  1))  k i e(k )  k d (e(k )  2e(k  1)  e(k  2))

5
Neural network indicators:
1 2
e (k )
2
Gradient descent method to adjust the amount of KP, KI, KD
three parameters are:
E
E yout u
yout
k p  

 


e ( k )
xc(1)
yout u k p
k p
u
6
E (k ) 

k i  

Figure 3. Conventional PID unit step input response curve

Sampling time is 0.2s, and its input is error, error time,

differential error; and the learning rate is
 0.15 , inertia

coefficient  0.03 , The value of the right to take the

network [-0.5, 0.5] random number in the range, the
simulation curve as follows:

E yout u
yout
E
xc(2)
 


e ( k )
yout
yout u k i
u
7

k d  

E
E yout u
yout
 


e( k )
xc(3)
k d
yout u k d
u
8

1 .4
1 .2
1

rin ,y o u t

III.SYSTEM SIMULATION
Inverted pendulum system simulation to acceleration input
as the system state equation is:

 x
 0

x
0
 

0



  0

1
0
0
0
0
0
0 29.4

0   x  0 
0  x
1

u
1  0
 
0 
 3

0 .8
0 .6
0 .4
0 .2

2000

4000

6000
tim e (s )

8000

10000

12000

Figure 4. RBF-based PID control unit step response curves

 x

 x  1 0 0 0  x
0
  u 
y 

  0 0 1 0  0


 

IV. CONCLUSION
(10)
Theory and simulation analysis and experiments show that
the RBF neural network described herein tuning PID control
algorithm overcomes the inverted pendulum control strategy
parameter tuning, the excessive dependence on the object
model. RBF neural network using fast tuning PID control
system response regulator parameters of good, high robustness,

First with tuning PID parameters method parameter

selection is: Kp = 2.9, Ki = 3.4, kd = 0.6; using conventional

561

tracking the input signal is strong, with excellent quality

control.

[3]

[4]

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