Experimental Validation of Fully Informed Particle Swarm Optimization Tuned Multi-Loop L-PID Controllers for Stabilization of Gantry Crane System

  • Sudarshan K. ValluruEmail author
  • Madhusudan Singh
  • Daksh Dobhal
  • Kumar Kartikeya
  • Manpreet Kaur
  • Arnav Goel
Conference paper
Part of the Advances in Intelligent Systems and Computing book series (AISC, volume 989)


Linear PID controllers are commonly used as an electrical component to decrease the error between anticipated set value and actual measured values for control of various benchmarked systems. The Multi-Loop Linear PID (ML-PID) controller, gives a robust and efficient performance in most of the situations. This paper presents the implementation of linear PID controller to stabilize and control the Gantry Crane System. Optimal performance is obtained for a few specific combinations of the proportional, integral, and derivative gains, which makes it essential to tune these values through Optimization techniques. The Fully Informed Particle Swarm Optimizer (FIPSO) is used to tune the gain values of the ML-PID controlled Gantry Crane System. These values are validated experimentally, and obtained results prove that the FIPSO tuned multi-loop linear PID controller quickly stabilizes the system subjected to external disturbances.


Multi-Loop linear PID (ML-PID) Fully Informed Particle Swarm Optimization (FIPSO) Gantry crane system 



The authors would like to thank the Govt. of India and Govt. NCT Delhi for providing funding through Delhi Technological University under TEQIP-II to procure Digital Pendulum System Experimental Setup.


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Copyright information

© Springer Nature Singapore Pte Ltd. 2020

Authors and Affiliations

  • Sudarshan K. Valluru
    • 1
    Email author
  • Madhusudan Singh
    • 1
  • Daksh Dobhal
    • 1
  • Kumar Kartikeya
    • 1
  • Manpreet Kaur
    • 1
  • Arnav Goel
    • 1
  1. 1.Department of Electrical EngineeringIncubation Center for Control Dynamical Systems and Computation, Delhi Technological UniversityNew DelhiIndia

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