Abstract
This manuscript presents a Simulink model of inverted pendulum (IP) and design of a fractional order proportional-integral-derivative controller (FOPIDC) to control of cart position (CP) and angular position (AP) of the pendulum under uncertainties and disturbances. In this control strategy, the conventional PID controller (CPIDC) is re-formulated with fractional orders of the integrator and differentiator to improve the control performance. The FOPIDC is a novel approach whose gains dynamically vary with respect to the error signal. The validation of the improved control performance of FOPIDC is established by comparative result investigation with other published control algorithms. The comparative results clearly reveal the better response of the proposed approach to control the system dynamics within the stable range with respect to accuracy, robustness, and ability to handle uncertainties.
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Patra, A.K., Mishra, A.K., Nanda, A., Subudhi, D.K., Agrawal, R., Patra, A. (2020). Stabilizing and Trajectory Tracking of Inverted Pendulum Based on Fractional Order PID Control. In: Mohanty, M., Das, S. (eds) Advances in Intelligent Computing and Communication. Lecture Notes in Networks and Systems, vol 109. Springer, Singapore. https://doi.org/10.1007/978-981-15-2774-6_41
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DOI: https://doi.org/10.1007/978-981-15-2774-6_41
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