Stabilization and Tracking Control of Inverted Pendulum Using Fractional Order PID Controllers
This work focuses on the use of fractional calculus to design robust fractional-order PID (PIλDμ) 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 PIλDμ controllers for IP syste...
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| Format: | Article |
| Language: | English |
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Wiley
2014-01-01
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| Series: | Journal of Engineering |
| Online Access: | http://dx.doi.org/10.1155/2014/752918 |
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| author | Sunil Kumar Mishra Dinesh Chandra |
| author_facet | Sunil Kumar Mishra Dinesh Chandra |
| author_sort | Sunil Kumar Mishra |
| collection | DOAJ |
| description | This work focuses on the use of fractional calculus to design robust fractional-order PID (PIλDμ) 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 PIλDμ 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 PIλDμ 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. |
| format | Article |
| id | doaj-art-ed4da7f8dc5942579219afe4eece7bb4 |
| institution | Kabale University |
| issn | 2314-4904 2314-4912 |
| language | English |
| publishDate | 2014-01-01 |
| publisher | Wiley |
| record_format | Article |
| series | Journal of Engineering |
| spelling | doaj-art-ed4da7f8dc5942579219afe4eece7bb42025-02-03T05:46:41ZengWileyJournal of Engineering2314-49042314-49122014-01-01201410.1155/2014/752918752918Stabilization and Tracking Control of Inverted Pendulum Using Fractional Order PID ControllersSunil Kumar Mishra0Dinesh Chandra1Department of Electrical Engineering, Motilal Nehru National Institute of Technology, Allahabad 211004, IndiaDepartment of Electrical Engineering, Motilal Nehru National Institute of Technology, Allahabad 211004, IndiaThis work focuses on the use of fractional calculus to design robust fractional-order PID (PIλDμ) 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 PIλDμ 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 PIλDμ 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.http://dx.doi.org/10.1155/2014/752918 |
| spellingShingle | Sunil Kumar Mishra Dinesh Chandra Stabilization and Tracking Control of Inverted Pendulum Using Fractional Order PID Controllers Journal of Engineering |
| title | Stabilization and Tracking Control of Inverted Pendulum Using Fractional Order PID Controllers |
| title_full | Stabilization and Tracking Control of Inverted Pendulum Using Fractional Order PID Controllers |
| title_fullStr | Stabilization and Tracking Control of Inverted Pendulum Using Fractional Order PID Controllers |
| title_full_unstemmed | Stabilization and Tracking Control of Inverted Pendulum Using Fractional Order PID Controllers |
| title_short | Stabilization and Tracking Control of Inverted Pendulum Using Fractional Order PID Controllers |
| title_sort | stabilization and tracking control of inverted pendulum using fractional order pid controllers |
| url | http://dx.doi.org/10.1155/2014/752918 |
| work_keys_str_mv | AT sunilkumarmishra stabilizationandtrackingcontrolofinvertedpendulumusingfractionalorderpidcontrollers AT dineshchandra stabilizationandtrackingcontrolofinvertedpendulumusingfractionalorderpidcontrollers |