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Stabilizing and Trajectory Tracking of Inverted Pendulum Based on Fractional Order PID Control

  • Akshaya Kumar Patra
  • Alok Kumar Mishra
  • Anuja Nanda
  • Dillip Kumar Subudhi
  • Ramachandra Agrawal
  • Abhishek Patra
Conference paper
Part of the Lecture Notes in Networks and Systems book series (LNNS, volume 109)

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.

Keywords

Inverted pendulum Angular displacement Angular velocity FOPIDC 

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Copyright information

© Springer Nature Singapore Pte Ltd. 2020

Authors and Affiliations

  • Akshaya Kumar Patra
    • 1
  • Alok Kumar Mishra
    • 1
  • Anuja Nanda
    • 1
  • Dillip Kumar Subudhi
    • 2
  • Ramachandra Agrawal
    • 2
  • Abhishek Patra
    • 2
  1. 1.Department of EEEITER, S‘O’A University, Deemed to be UniversityBhubaneswarIndia
  2. 2.Department of CSITITER, S‘O’A University, Deemed to be UniversityBhubaneswarIndia

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