Fractional order PD control of Furuta pendulum: D-decomposition approach
Abstract
This paper deals with stability problem of inverted pendulum controlled by a fractional order PD controller. Ddecomposition method for determining stability region in controller parameters space is hereby presented. The Ddecomposition 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:
inverted pendulum I. / fractional order PID / D-decomposition / asymptotic stabilitySource:
2014 International Conference on Fractional Differentiation and Its Applications, ICFDA 2014, 2014Publisher:
- Institute of Electrical and Electronics Engineers Inc.
Funding / projects:
- Intelligent Control Systems of the Air-conditioning for the Purpose of Achieving Energy Efficient Exploitation Regimes in the Complex Operating Conditions (RS-MESTD-Technological Development (TD or TR)-33047)
- Sustainability and improvement of mechanical systems in energetic, material handling and conveying by using forensic engineering, environmental and robust design (RS-MESTD-Technological Development (TD or TR)-35006)
- Energy efficiency Improvement of Hydro and Thermal power plants in EPS by development and implementation of power electronics based regulation and automation equipment (RS-MESTD-Technological Development (TD or TR)-33020)
Collections
Institution/Community
Mašinski fakultetTY - CONF AU - Mandić, Petar AU - Lazarević, Mihailo AU - Sekara, Tomislav B. PY - 2014 UR - https://machinery.mas.bg.ac.rs/handle/123456789/1953 AB - This paper deals with stability problem of inverted pendulum controlled by a fractional order PD controller. Ddecomposition method for determining stability region in controller parameters space is hereby presented. The Ddecomposition 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. PB - Institute of Electrical and Electronics Engineers Inc. C3 - 2014 International Conference on Fractional Differentiation and Its Applications, ICFDA 2014 T1 - Fractional order PD control of Furuta pendulum: D-decomposition approach DO - 10.1109/ICFDA.2014.6967422 ER -
@conference{ author = "Mandić, Petar and Lazarević, Mihailo and Sekara, Tomislav B.", year = "2014", abstract = "This paper deals with stability problem of inverted pendulum controlled by a fractional order PD controller. Ddecomposition method for determining stability region in controller parameters space is hereby presented. The Ddecomposition 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.", publisher = "Institute of Electrical and Electronics Engineers Inc.", journal = "2014 International Conference on Fractional Differentiation and Its Applications, ICFDA 2014", title = "Fractional order PD control of Furuta pendulum: D-decomposition approach", doi = "10.1109/ICFDA.2014.6967422" }
Mandić, P., Lazarević, M.,& Sekara, T. B.. (2014). Fractional order PD control of Furuta pendulum: D-decomposition approach. in 2014 International Conference on Fractional Differentiation and Its Applications, ICFDA 2014 Institute of Electrical and Electronics Engineers Inc... https://doi.org/10.1109/ICFDA.2014.6967422
Mandić P, Lazarević M, Sekara TB. Fractional order PD control of Furuta pendulum: D-decomposition approach. in 2014 International Conference on Fractional Differentiation and Its Applications, ICFDA 2014. 2014;. doi:10.1109/ICFDA.2014.6967422 .
Mandić, Petar, Lazarević, Mihailo, Sekara, Tomislav B., "Fractional order PD control of Furuta pendulum: D-decomposition approach" in 2014 International Conference on Fractional Differentiation and Its Applications, ICFDA 2014 (2014), https://doi.org/10.1109/ICFDA.2014.6967422 . .