Stabilization of a double inverted rotary pendulum through fractional order integral control scheme. (2nd August 2019)

• Record Type: Journal Article
• Authors: Mehedi, Ibrahim Mustafa; Al-Saggaf, Ubaid M; Mansouri, Rachid; Bettayeb, Maamar
• Is Part Of: International journal of advanced robotic systems. Volume 16:Number 4(2019:Jul./Aug.)
• Publication Date: 2019-08-02
• Subjects: State space control -- fractional order controller -- two degree of freedom -- Bode's ideal transfer function -- rotary double inverted pendulum; Robotics -- Periodicals; Robotics; Periodicals; 629.892
• DOI: 10.1177/1729881419846741
• Languages: English
• ISSNs: 1729-8806

Abstract

Rotary double inverted pendulum is a highly nonlinear complex system and requires a high performance controller for its control. Using gain matrix which is obtained through state feedback technique may create complexity while removing the steady-state error for all states. Incorporating an integral action can be an alternative for these errors. Therefore, a state space–based fractional order controller with fractional integral action is designed and tested on a rotary double inverted pendulum in this article. The fractional integral controller is designed based on Bode's ideal transfer function. Two degree of freedom is considered for tuning purpose as well. The integer order controller based on the state space approach is also shown for comparison. Simulation and experimental results are presented for both controllers of this rotary double inverted pendulum system.