Pantograph-Catenary (PC) system is a widely used infrastructure for electric rail operations, ensuring a continuous power supply to trains. Maintaining seamless contact between the pantograph and catenary is essential for reliable performance. However, large variations in contact force between them can degrade contact quality, causing excessive deflections in the catenary and accelerated wear and tear. This work aims to regulate these variations by introducing PID-controlled actuation to the pantograph system. A mathematical model of the PC system is developed using a two-degree-of-freedom spring-mass representation of the pantograph, coupled with a simplified time-varying parametric model of the catenary. The PID controller’s gain parameters are optimized through a genetic algorithm. Contact quality between the pantograph and catenary is enhanced as a result of the simulated findings showing a notable decrease in the standard deviation of contact force fluctuation.