Robust Control of Cart-Inverted Pendulum System by Fractional Order (FO) Controller

Abstract

Analysis of typical Cart-inverted Pendulum System is very effective to evaluate and perceive the significant control strategies including various aspects of control engineering with vast application in industrial robots. Based on its mathematical model comprising of two loops dispensing two outputs, the control method has been proposed. Here, the inner primary loop regulating the pendulum angle, while the outer secondary loop steering the position of the cart on the rail. The system is non-minimum phase highly unstable non-linear with a single input voltage to the DC Motor providing two outputs, i.e. Cart-Position and Angle. A robust and optimal control has been achieved by fractional order PIλDμ controller compared with the classical one. Results demonstrated quantify the performance improvement attained.