Fractional control and robustness analysis of an inverted pendulum system

Abstract

This paper presents the identification, control and analysis of robustness in a robotic system using a fractional PID controllers. First, a model of ADAMS-MATLAB co-simulation is built to simulate the robotic system. Second, the identification of the dynamic-model parameters from the robotic system employs the recursive least-squares method. A linearized model of the robotic system is obtained by the input-output linearization method, which is used for tuning the fractional PID and classic PID controllers. Third, the controller's robustness is analyzed in the frequency domain, which uses the sensibility, complementary sensibility, sensibility of the plant and sensibility of the controller effort as robustness indicators. Finally, the results show that the fractional PID controller has a better behavior in presence of external disturbances and lower energy consumption.