A hybrid control design of FOPID and FWA for inverted pendulum systems

Abstract

Nowadays, along with the dramatic development of industrial automatic, optimization problem has been playing an important role in designing controllers for nonlinear systems. This paper proposes a hybrid control design of Fast Output Sampling Discrete Sliding Mode Control (FOSDSMC) and fractional order PID controller (FOPID) based on I ireworks algorithm (FWA) to optimize controller parameters. The hybrid controller is veriI ied on a nonlinear inverted pendulum system. The simulation of controller optimization process is carried out using MATLAB/Simulink. The results are compared with two published controllers such as a hybrid control design of PID controller and fast output sampling discrete sliding mode control, and a hybrid control conI iguration of PID and state feedback controller based on linear quadratic regulator method. The comparison results show the better performance of the proposed method.