Research and Design of Fractional-Order PID Controller for Inertial Stabilized Platform via Internal Model Control

Abstract

Inertial stabilized platform (ISP) is an important part of inertial navigation system, and its mathematical model is established in this paper. In order to improve the accuracy and stability of the ISP, we propose a Fractional-Order PID (FOPID) controller design method based on internal model control (IMC) principle. Firstly, a PID controller with only one parameter η is constructed by the IMC. Then the FOPID controller is formed by adding integrator order λ and differentiator order μ. Finally, these three parameters are turned by gain crossover frequency, phase margin and gain robustness constraint. The design technique proposed here is mathematically very simple. Moreover, simulation results demonstrate that the proposed controller is better as compared to the classical PID controller.