Stabilization of unstable equilibrium point of rotary inverted pendulum using fractional controller

Abstract

Many studies have been conducted by researchers globally in the recent past on the control schemes to enhance the performance of rotary single inverted pendulum (RSIP). The present paper seeks to investigate into a method to stabilize a pendulum link in upright position with a focus to minimize the deviation in rotational arm. Based on the fractional calculus, the proposed control scheme consists of two loop fractional controller in order to intensify the potentiality of RSIP. To tune the parameters of proposed fractional controller a simple graphical tuning method based on frequency response is used. The same parameters will also be tuned using dynamic particle swarm optimization (dPSO). The study will also serve to present a comparison of the performance of the proposed controller with the dynamic particle swarm optimization (dPSO) based fractional controller. Back calculation anti-windup technique will also be incorporated to compensate the saturation non-linearity. Further to confirm the usability of the proposed controller and to avoid the random perturbations sensitivity and robustness is investigated.