Abstract
The inverted pendulum systems are very important problem in control literature and frequently studied. A simple and effective controller design is preferred for controlling a complex system. In this work, mathematical model of three types of inverted pendulums are derived depending upon their dynamics. Further, a fractional order PID (FOPID) controller is designed and applied for controlling and stabilizing the three types of inverted pendulums. The proposed fractional order controller is based on the fractional calculus and it is a robust controller. The responses of the pendulum system with FOPID are compared with the responses with conventional PID controllers. The overall performance of the FOPID controller is better than the conventional PID and the results are robust to the outer fast and large disturbances also.
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