Real Time Fractional Order Control of Rotary Inverted Pendulum

Abstract

This paper proposes advanced control strategy for a rotary inverted pendulum (RIP). RIP is an underactuated mechanical system because it has only one control input and two degrees of freedom. Because of its complex nonlinear dynamics, RIP is usually used to test performance of different control algorithms. The mathematical model for the RIP is derived using the Rodriguez method. Control problem is divided and implemented in two different steps: swing-up and stabilization routines. Here, a new algorithm of PID control is suggested based on fractional calculus (FC), i.e.fractional controller PDα as well as classical PID control in the control of RIP. The effectiveness of the proposed control method is tested in Matlab Simulink environment.