Comparative Analysis of Two Loop Integer and Fractional Order PID Controller for Inverted Pendulum

Abhijeet Lanjewar,Anjali S Junghare,Swapnil W Khubalkar

doi:10.1109/icsedps.2018.8536022

Comparative Analysis of Two Loop Integer and Fractional Order PID Controller for Inverted Pendulum

Abhijeet Lanjewar, Anjali S Junghare + Show 1 more

https://doi.org/10.1109/icsedps.2018.8536022

Copy DOI

Publication Date: Jun 1, 2018

Citations: 23

Affiliation: Visvesvaraya National Institute of Technology, Raisoni Group of Institutions

#Proportional Integral Derivative Controller #Fractional Order Proportional Integral Derivative + Show 8 more

Abstract
Full-Text PDF
Similar Papers

Abstract

Inverted pendulum is highly non-linear and unstable system, hence it's a challenging plant to control. So, the aim is to effectively control the inverted pendulum. This paper focuses on control of inverted pendulum by using proportional integral derivative (PID) and fractional order PID (FOPID) controllers. The system is controlled by using two loop PID controller. Further improvement in control is obtained by using two loop FOPID controller. The comparison of both the techniques is shown. Controllers are analyzed based on peak overshoot, control efforts, and performance indices. Simulation results demonstrate that the two loop FOPID controller gives improved response as compared to the two loop PID controller.

Full Text