Design and simulation of inverted pendulum system based on the fractional PID controller

Abstract

This paper implements fractional order controller to the compound control, taking the first-order inverted pendulum system as the plant, In which, using direct compensator to reach steady. Then we give the design method of fractional order PID controller (PIλDμ controller), fractional order (PDμ controller controller), integer order PID controller and optimize parameters based on genetic algorithm. The simulation results prove that the proposed method can achieve high performance comparing the PID controller.