D-decomposition method for stabilization of inverted pendulum using fractional order PD controller
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 D decomposition problem for linear systems is extended for linear
fractional systems and for the case of linear parameters
dependence. Knowledge of stability regions enables tuning of the
fractional order PD controller.
Keywords:
fractional order PID / D-decomposition / asymptotic stability / inverted pendulumSource:
Proceedings of 1st International Conference on Electrical, Electronic and Computing Engineering Vrnjačka Banja, Serbia, June 2 – 5, 2014,IcETRAN 2014, 2014, 1-6Publisher:
- Belgrade : ETRAN Society
Funding / projects:
- 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)
- 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)
- 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 - Šekara, Tomislav PY - 2014 UR - https://machinery.mas.bg.ac.rs/handle/123456789/4274 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 D decomposition problem for linear systems is extended for linear fractional systems and for the case of linear parameters dependence. Knowledge of stability regions enables tuning of the fractional order PD controller. PB - Belgrade : ETRAN Society C3 - Proceedings of 1st International Conference on Electrical, Electronic and Computing Engineering Vrnjačka Banja, Serbia, June 2 – 5, 2014,IcETRAN 2014 T1 - D-decomposition method for stabilization of inverted pendulum using fractional order PD controller EP - 6 SP - 1 UR - https://hdl.handle.net/21.15107/rcub_machinery_4274 ER -
@conference{ author = "Mandić, Petar and Lazarević, Mihailo and Šekara, Tomislav", 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 D decomposition problem for linear systems is extended for linear fractional systems and for the case of linear parameters dependence. Knowledge of stability regions enables tuning of the fractional order PD controller.", publisher = "Belgrade : ETRAN Society", journal = "Proceedings of 1st International Conference on Electrical, Electronic and Computing Engineering Vrnjačka Banja, Serbia, June 2 – 5, 2014,IcETRAN 2014", title = "D-decomposition method for stabilization of inverted pendulum using fractional order PD controller", pages = "6-1", url = "https://hdl.handle.net/21.15107/rcub_machinery_4274" }
Mandić, P., Lazarević, M.,& Šekara, T.. (2014). D-decomposition method for stabilization of inverted pendulum using fractional order PD controller. in Proceedings of 1st International Conference on Electrical, Electronic and Computing Engineering Vrnjačka Banja, Serbia, June 2 – 5, 2014,IcETRAN 2014 Belgrade : ETRAN Society., 1-6. https://hdl.handle.net/21.15107/rcub_machinery_4274
Mandić P, Lazarević M, Šekara T. D-decomposition method for stabilization of inverted pendulum using fractional order PD controller. in Proceedings of 1st International Conference on Electrical, Electronic and Computing Engineering Vrnjačka Banja, Serbia, June 2 – 5, 2014,IcETRAN 2014. 2014;:1-6. https://hdl.handle.net/21.15107/rcub_machinery_4274 .
Mandić, Petar, Lazarević, Mihailo, Šekara, Tomislav, "D-decomposition method for stabilization of inverted pendulum using fractional order PD controller" in Proceedings of 1st International Conference on Electrical, Electronic and Computing Engineering Vrnjačka Banja, Serbia, June 2 – 5, 2014,IcETRAN 2014 (2014):1-6, https://hdl.handle.net/21.15107/rcub_machinery_4274 .