Stabilization and Tracking Control of Inverted Pendulum Using Fractional Order PID Controllers

Abstract

This work focuses on the use of fractional calculus to design robust fractional-order PID (PI λ D μ ) controller for stabilization and tracking control of inverted pendulum (IP) system. A particle swarm optimisation (PSO) based direct tuning technique is used to design two PI λ D μ controllers for IP system without linearizing the actual nonlinear model. The fitness function is minimized by running the SIMULINK model of IP system according to the PSO program in MATLAB. The performance of proposed PI λ D μ controllers is compared with two PID controllers. Simulation results are also obtained by adding disturbances to the model to show the robustness of the proposed controllers.