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Stabilization of cart pendulum system by using fractional order PD controller
dc.creator | Mandić, Petar | |
dc.creator | Lazarević, Mihailo | |
dc.creator | Djurović, Nikola | |
dc.creator | Šekara, Tomislav | |
dc.date.accessioned | 2023-02-09T13:27:27Z | |
dc.date.available | 2023-02-09T13:27:27Z | |
dc.date.issued | 2015 | |
dc.identifier.isbn | 978-86-7892-715-7 | |
dc.identifier.uri | https://machinery.mas.bg.ac.rs/handle/123456789/4250 | |
dc.description.abstract | This paper deals with stability problem of cart inverted pendulum controlled by a fractional order PD controller. Inverted pendulum is an underactuated mechanical system because it has one control input and two degrees of freedom. Detailed mathematical model of pendulum is derived using the Rodriguez method and fractional order PD controller is introduced in order to stabilize it. Control strategy consists of two parts, a swing up controller and stabilizing controller. Problem of asymptotic stability of closed loop system is solved using the D-decomposition approach. Stability regions in control parameters space are calculated using this method, and tuning of the fractional order controller can be carried out. | sr |
dc.language.iso | en | sr |
dc.publisher | Belgrade : Serbian Society of Mechanics | sr |
dc.publisher | Novi Sad : Faculty of Technical Sciences | 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 | restrictedAccess | sr |
dc.source | Proceedings of the 5th International Congress of Serbian Society of Mechanics, Arandjelovac, June 15-17, 2015, C2c | sr |
dc.subject | inverted pendulum | sr |
dc.subject | fractional order PID | sr |
dc.subject | D-decomposition | sr |
dc.subject | asymptotic stability | sr |
dc.title | Stabilization of cart pendulum system by using fractional order PD controller | sr |
dc.type | conferenceObject | sr |
dc.rights.license | ARR | sr |
dc.citation.epage | 8 | |
dc.citation.rank | M33 | |
dc.citation.spage | 1 | |
dc.identifier.rcub | https://hdl.handle.net/21.15107/rcub_machinery_4250 | |
dc.type.version | publishedVersion | sr |