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Stabilization of Inverted Pendulum by Fractional Order PD Controller with Experimental Validation: D-decomposition Approach
dc.creator | Mandić, Petar | |
dc.creator | Lazarević, Mihailo | |
dc.creator | Sekara, Tomislav B. | |
dc.date.accessioned | 2022-09-19T18:15:45Z | |
dc.date.available | 2022-09-19T18:15:45Z | |
dc.date.issued | 2017 | |
dc.identifier.issn | 2194-5357 | |
dc.identifier.uri | https://machinery.mas.bg.ac.rs/handle/123456789/2649 | |
dc.description.abstract | This paper deals with the stability problem of two types of inverted pendulum controlled by a fractional order PD controller. Rotational inverted pendulum and cart inverted pendulum are under-actuated mechanical systems with two degrees of freedom and one control input. Detailed mathematical models of both pendulums are derived using the Rodriguez method. Fractional order PD controller is introduced for inverted pendulum stabilization. Stability regions in control parameters space are calculated using the D-decomposition approach, based on which tuning of the fractional order controller can be carried out. Numerical simulations and experimental realization are given to demonstrate the effectiveness of the proposed method. | en |
dc.publisher | Springer International Publishing Ag, Cham | |
dc.relation | info:eu-repo/grantAgreement/MESTD/Technological Development (TD or TR)/33047/RS// | |
dc.relation | info:eu-repo/grantAgreement/MESTD/Technological Development (TD or TR)/35006/RS// | |
dc.relation | info:eu-repo/grantAgreement/MESTD/Technological Development (TD or TR)/33020/RS// | |
dc.rights | restrictedAccess | |
dc.source | Advances in Robot Design and Intelligent Control | |
dc.subject | Inverted pendulum | en |
dc.subject | Fractional order PID | en |
dc.subject | D-decomposition | en |
dc.subject | Asymptotic stability | en |
dc.title | Stabilization of Inverted Pendulum by Fractional Order PD Controller with Experimental Validation: D-decomposition Approach | en |
dc.type | conferenceObject | |
dc.rights.license | ARR | |
dc.citation.epage | 37 | |
dc.citation.other | 540: 29-37 | |
dc.citation.rank | M33 | |
dc.citation.spage | 29 | |
dc.citation.volume | 540 | |
dc.identifier.doi | 10.1007/978-3-319-49058-8_4 | |
dc.identifier.scopus | 2-s2.0-85007301280 | |
dc.identifier.wos | 000413022000004 | |
dc.type.version | publishedVersion |