Modeling and control of fractional order PID controller fed rotary inverted pendulum

Abstract

This paper focuses on modeling and control of rotary inverted pendulum (RIP) by using a linear quadratic regulator (LQR). The performance of the system is improved by using LQR and proportional-integral-derivative (PID) controller. Further improvement in control is obtained by using LQR and fractional-order PID (FOPID) controller. Hence, hybrid control techniques (PID+LQR and FOPID+LQR) are used to control RIP. The comparison of all the three techniques is shown. RIP is single input multiple output (SIMO) non-linear system, hence it's a challenging plant to control. So, the aim is to effectively control two output states of RIP model and the stabilization. As LQR controller takes a lot of efforts to get optimal control gain and there is a maximum deviation in the arm angle which leads to propose a hybrid controller. Simulation results show that the hybrid FOPID+LQR controller overcomes the flaw in LQR controller as well as PID+LQR controller. Controllers are analyzed based on peak overshoot, control efforts, and performance indices.