Performance Evaluation of Metaheuristic Algorithms for Fractional-Order PID Controller Tuning in Non-Linear Systems
- 1Department of Electrical, Electronics, Control Engineering and Applied Physics, Higher Technical School of Industrial Design and Engineering, Universidad Politécnica de Madrid, 28012 Madrid, Spain
- 2Centre for Automation and Robotics (UPM-CSIC), Universidad Politécnica de Madrid, 28006 Madrid, Spain
- 3Departamento de Ingeniería Eléctrica-Electrónica, Universidad de Tarapacá, Arica 1010069, Chile
Abstract
The use of metaheuristic algorithms has become very popular in recent years. One of their many applications is in tuning different controllers, especially those that would require extensive effort to tune manually. In some cases, due to the complexity of the controller, it is almost impossible to adjust the parameters manually. In this work, a fractional-order PID controller (FOPID) is used to control an inverted pendulum. This is a non-linear, multivariable, and underactuated system that requires advanced techniques to achieve robust control. Three different algorithms have been implemented to compare their performance in solving this problem. The algorithms used are a Genetic Algorithm (GA), an Artificial Bee Colony algorithm (ABC), and Black Widow Optimization (BWO). The controllers have been evaluated through extensive tests on a physical model of the inverted pendulum, proving the validity of the designs. Furthermore, after running the algorithms several times, optimal configurations for the parameters of each algorithm have been obtained.
Related
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BibTeX
@article{alhadithi2026performance,
title = {{Performance Evaluation of Metaheuristic Algorithms for Fractional-Order PID Controller Tuning in Non-Linear Systems}},
author = {Basil Mohammed Al-Hadithi and Adrián Gómez García and Manuel Barraza-Rodríguez},
journal = {Mathematics},
year = {2026},
month = oct,
doi = {10.3390/math14213943},
url = {https://www.mdpi.com/2227-7390/14/21/3943},
note = {CC BY 4.0},
}
RIS
TY - JOUR
TI - Performance Evaluation of Metaheuristic Algorithms for Fractional-Order PID Controller Tuning in Non-Linear Systems
AU - Basil Mohammed Al-Hadithi
AU - Adrián Gómez García
AU - Manuel Barraza-Rodríguez
PY - 2026
DA - 2026/10/28
JO - Mathematics
DO - 10.3390/math14213943
UR - https://www.mdpi.com/2227-7390/14/21/3943
AB - The use of metaheuristic algorithms has become very popular in recent years. One of their many applications is in tuning different controllers, especially those that would require extensive effort to tune manually. In some cases, due to the complexity of the controller, it is almost impossible to adjust the parameters manually. In this work, a fractional-order PID controller (FOPID) is used to control an inverted pendulum. This is a non-linear, multivariable, and underactuated system that requires advanced techniques to achieve robust control. Three different algorithms have been implemented to compare their performance in solving this problem. The algorithms used are a Genetic Algorithm (GA), an Artificial Bee Colony algorithm (ABC), and Black Widow Optimization (BWO). The controllers have been evaluated through extensive tests on a physical model of the inverted pendulum, proving the validity of the designs. Furthermore, after running the algorithms several times, optimal configurations for the parameters of each algorithm have been obtained.
SN - 2227-7390
ER -