Fractional order PD control of Furuta pendulum: D-decomposition approach

Author

Mandic, Petar ; Lazarevic, Mihailo P. ; Sekara, Tomislav B.

Author_Institution

Fac. of Mech. Eng., Univ. of Belgrade, Belgrade, Serbia

fYear

2014

fDate

23-25 June 2014

Firstpage

1

Lastpage

7

Abstract

This paper deals with stability problem of inverted pendulum controlled by a fractional order PD controller. D-decomposition method for determining stability region in controller parameters space is hereby presented. The D-decomposition problem for linear systems is extended for linear fractional systems and for the case of nonlinear parameters dependence. Some comparisons of fractional and integer order PID controllers are given based on simulation results.

Keywords

PD control; asymptotic stability; nonlinear control systems; pendulums; three-term control; D-decomposition approach; Furuta pendulum; fractional order PD control; fractional order PID controllers; integer order PID controllers; inverted pendulum; linear fractional systems; nonlinear parameter dependence; stability problem; stability region; Asymptotic stability; Equations; Linear systems; Mathematical model; PD control; Stability analysis; D-decomposition; asymptotic stability; fractional order PID; inverted pendulum;

fLanguage

English

Publisher

ieee

Conference_Titel

Fractional Differentiation and Its Applications (ICFDA), 2014 International Conference on

Conference_Location

Catania

Type

conf

DOI

10.1109/ICFDA.2014.6967422

Filename

6967422