dc.creator | Mandić, Petar | |
dc.creator | Lazarević, Mihailo | |
dc.creator | Šekara, Tomislav | |
dc.creator | Jovanović, Radiša | |
dc.date.accessioned | 2023-02-07T11:10:02Z | |
dc.date.available | 2023-02-07T11:10:02Z | |
dc.date.issued | 2016 | |
dc.identifier.isbn | 978-86-7892-830-7 | |
dc.identifier.uri | https://machinery.mas.bg.ac.rs/handle/123456789/4185 | |
dc.description.abstract | This paper deals with stability problem of cart inverted pendulum system controlled by a
fractional order controller. Inverted pendulum is an underactuated mechanical system
with one control input and two degrees of freedom. Detailed mathematical model of
pendulum is derived using the Rodriguez method. Stabilization of pendulum around its
unstable equilibrium point is achieved by using the fractional order PDα controller, in
combination with partial feedback linearization technique. Since fractional order control
law includes non-rational functions, an efficient method for numerical evaluation of this
type of functions is used in this paper. The performance of the proposed method is
demonstrated with experimental verification of the stabilization control of the cart
pendulum system. | sr |
dc.language.iso | en | sr |
dc.publisher | Belgrade: Serbian Society of Mechanics | sr |
dc.publisher | Faculty of Technical Sciences Novi Sad | sr |
dc.relation | info:eu-repo/grantAgreement/MESTD/Technological Development (TD or TR)/35006/RS// | sr |
dc.relation | info:eu-repo/grantAgreement/MESTD/Technological Development (TD or TR)/33047/RS// | sr |
dc.relation | info:eu-repo/grantAgreement/MESTD/Technological Development (TD or TR)/33020/RS// | sr |
dc.rights | openAccess | sr |
dc.rights.uri | https://creativecommons.org/licenses/by-nc-nd/4.0/ | |
dc.source | Proceedings of International Conference on Fractional Differentiation and its Application ICFDA16, 18-20 July 2016, Novi Sad, Serbia | sr |
dc.subject | inverted pendulum | sr |
dc.subject | fractional order PID control | sr |
dc.subject | asymptotic stability | sr |
dc.subject | rational approximations | sr |
dc.title | Stabilization of the cart pendulum system by fractional order control with experimental realization | sr |
dc.type | conferenceObject | sr |
dc.rights.license | BY-NC-ND | sr |
dc.citation.epage | 423 | |
dc.citation.rank | M33 | |
dc.citation.spage | 415 | |
dc.identifier.fulltext | http://machinery.mas.bg.ac.rs/bitstream/id/9856/MandicICFDA16_.pdf | |
dc.identifier.rcub | https://hdl.handle.net/21.15107/rcub_machinery_4185 | |
dc.type.version | publishedVersion | sr |