TY - GEN
T1 - Inverted pendulum stabilization by means of fractional order PID controllers
AU - Oróstica, Rodrigo
AU - Duarte-Mermoud, Manuel A.
AU - Jáuregui, Cristian
AU - Lefranc, Gastón
N1 - Publisher Copyright:
© 2017 IEEE.
PY - 2017/12/19
Y1 - 2017/12/19
N2 - A simulated study of three different control strategies to stabilize an inverted pendulum on a cart is presented in this paper. Linear Quadratic Regulator (LQR), Integer order PID (IOPID) and Fractional order PID (FOPID) are designed, applied and compared. A nonlinear model of the cart-pendulum system is first derived and used later in the simulation of the control strategies aforementioned. The tuning parameters of all three controllers are obtained using Particle Swarm Optimization (PSO) technique, using the Integral of the Squared Error (ISE) index as fitting function, when a sequence of step reference inputs is applied.The simulation results, when applying a sequence of step references, show a better performance for the LQR, when using the cost function of the LQR as performance index. However, in the more general case of a sinusoidal references, the FOPID is the one that exhibits the best behavior.
AB - A simulated study of three different control strategies to stabilize an inverted pendulum on a cart is presented in this paper. Linear Quadratic Regulator (LQR), Integer order PID (IOPID) and Fractional order PID (FOPID) are designed, applied and compared. A nonlinear model of the cart-pendulum system is first derived and used later in the simulation of the control strategies aforementioned. The tuning parameters of all three controllers are obtained using Particle Swarm Optimization (PSO) technique, using the Integral of the Squared Error (ISE) index as fitting function, when a sequence of step reference inputs is applied.The simulation results, when applying a sequence of step references, show a better performance for the LQR, when using the cost function of the LQR as performance index. However, in the more general case of a sinusoidal references, the FOPID is the one that exhibits the best behavior.
KW - Fractional order PID
KW - Inverted pendulum
KW - Linear quadratic regulator
KW - Particle swarm optimization
KW - PID control
KW - Stabilization
UR - https://www.scopus.com/pages/publications/85042721675
U2 - 10.1109/CHILECON.2017.8229631
DO - 10.1109/CHILECON.2017.8229631
M3 - Conference contribution
AN - SCOPUS:85042721675
T3 - 2017 CHILEAN Conference on Electrical, Electronics Engineering, Information and Communication Technologies, CHILECON 2017 - Proceedings
SP - 1
EP - 7
BT - 2017 CHILEAN Conference on Electrical, Electronics Engineering, Information and Communication Technologies, CHILECON 2017 - Proceedings
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2017 CHILEAN Conference on Electrical, Electronics Engineering, Information and Communication Technologies, CHILECON 2017
Y2 - 18 October 2017 through 20 October 2017
ER -