A Stability Analysis of Inverted Pendulum System Using Fractional-Order MIT Rule of MARC Controller

  • Deep Mukherjee
  • Palash Kundu
  • Apurba Ghosh
Conference paper
Part of the Advances in Intelligent Systems and Computing book series (AISC, volume 701)


In this paper, modification of MIT rule of MARC (Model Adaptive Reference Controller) using fractional derivative concept has been proposed for an integer-order-inverted pendulum system which is highly unstable. Here, the G-L fractional derivative method has been proposed to design fractional-order MIT rule of MARC controller. This controller has been tuned by adaptive gain and an additional degree of freedom to the stable angular displacement of the pendulum and to track the reference model better with respect to time domain specifications. Next, this stability of inverted pendulum using fractional-order MIT rule has been analyzed with normal integer-order MIT rule.


Inverted pendulum MARC MIT rule Fractional-order MIT rule 



I take this opportunity to express my sincere gratitude to all the authors following their research articles through which I figured out an innovative idea to present this work.


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© Springer Nature Singapore Pte Ltd. 2018

Authors and Affiliations

  1. 1.School of Electronics Engineering, Kalinga Institute of Industrial TechnologyKIIT UniversityBhubaneswarIndia
  2. 2.Department of Electrical EngineeringJadavpur UniversityKolkataIndia
  3. 3.Department of Instrumentation EngineeringBurdwan UniversityBurdwanIndia

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