scholarly journals A performance analysis of fractional order based MARC controller over optimal fractional order PID controller on inverted pendulum

2018 ◽  
Vol 7 (2.21) ◽  
pp. 29
Author(s):  
Deep Mukherjee ◽  
Palash Kumar Kundu ◽  
Apurba Ghosh
Keyword(s):  
Fractional Order ◽  
Pid Controller ◽  
Inverted Pendulum ◽  
Dynamic Performance ◽  
Performance Criteria ◽  
Advanced Technique ◽  
Pendulum System ◽  
Inverted Pendulum System ◽  
Fractional Order Pid ◽  
Fractional Order Pid Controller

This paper presents a new way to design MIT rule as an advanced technique of MARC (Model Adaptive Reference Controller) for an integer order inverted pendulum system. Here, our work aims to study the performance characteristics of fractional order MIT rule of MARC controller followed by optimal fractional order PID controller in MATLAB SIMULINK environment with respect to time domain specifications. Here, to design fractional order MIT rule Grunwald-Letnikov fractional derivative calculus method has been considered and based on Grunwald-Letnikov fractional calculus rule fractional MIT rule has been designed in SIMULINK. The proposed method aims finally to analyze overall desired closed loop dynamic performance on inverted pendulum with different performance criteria and to show the desired nature of an unstable system over optimal fractional order PID controller. 

A Better Stability Control of Inverted Pendulum System Using FMINCON Based FOPID Controller Over Fractional Order Based MRAC Controller

2019 ◽  
Vol 8 (1) ◽  
pp. 18-30
Author(s):  
Deep Mukherjee ◽  
Palash Kundu ◽  
Apurba Ghosh
Keyword(s):  
Fractional Order ◽  
Pid Controller ◽  
Inverted Pendulum ◽  
Adaptive Controller ◽  
Stability Control ◽  
Pendulum System ◽  
Stability Performance ◽  
Inverted Pendulum System ◽  
Fractional Order Pid ◽  
Fractional Order Pid Controller

In this article, a stability analysis on an inverted pendulum system has been approached using a fractional order PID controller and a fractional order-based model reference adaptive controller. A modified MIT rule provides an extra degree of freedom, unlike an MIT rule of MRAC controllers to stablize the pendulum angle of the inverted pendulum system which is highly unstable in nature. Here, to analyze better stability performance of the inverted pendulum over the fractional order MIT rule of MRAC controller optimal fractional order, a PID controller has been approached and FMINCON numerical optimization algorithm has been chosen to optimize the fractional order PID controller using ITSE as a scaler objective function. Next, the behaviourial characteristics of the pendulum have been compared between the FMINCON-based FOPID controllers and the fractional order MIT rule of the MRAC controller to show robust performance using an optimal FOPID controller with respect to performance indices increases time, settling time, followed by errors ISE, IAE, ITSE.

Predictive Direct Capacitor Power Control Based on Fractional-Order PID Controller of Three-Phase Voltage Source PWM Rectifiers

2014 ◽  
Vol 1070-1072 ◽  
pp. 1115-1118
Author(s):  
Xiao Ying Zhang ◽  
Xue Jie Ma
Keyword(s):  
Power Control ◽  
Fractional Order ◽  
Pid Controller ◽  
Dynamic Performance ◽  
Phase Voltage ◽  
Direct Power ◽  
Three Phase ◽  
Pwm Rectifiers ◽  
Fractional Order Pid ◽  
Fractional Order Pid Controller

In order to improve the dynamic performance of three-phase voltage type PWM rectifiers predictive direct capacitor power control, in view of the deficiencies of slow response and poor dynamic performance of present PI control of load disturbance, the fractional order PID controller of the DC side voltage control section is introduced to the capacitive power control. The new predictive direct power capacitor control strategy has been proposed. It consists of two parts: the outer loop of voltage square model of fractional order PID and the inner loop of capacitor power and the reactive power in network side. Through decoupling control with the prediction control of the inner loop and the voltage outer loop of fractional PID, the dynamic performance of a direct power control has been improved. The Matlab/Simulink simulation results prove that the system has better dynamic performance, robustness and response speed of direct power control.

scholarly journals Design of Active Fractional PID Controller Based on Whale's Optimization Algorithm for Stabilizing a Quarter Vehicle Suspension System

2020 ◽  
Author(s):  
Zeyad Abdulwahid Karam ◽  
Osama A. Awad
Keyword(s):  
Fractional Order ◽  
Optimization Algorithm ◽  
Pid Controller ◽  
Dynamic Performance ◽  
Parameter Variation ◽  
Suspension System ◽  
Robust Controller ◽  
Car Body ◽  
Fractional Order Pid ◽  
Fractional Order Pid Controller

Improving the dynamic performance of an automobile suspension system is considered as the main demand for comfortable and safe passenger travelling. From all previously proposed and implemented works, it is noticed that there are other factors that need to be considered to raising the car holding and stability in the road for improved passenger comfort when travelling. The minimization of car body displacement and oscillation time after exposure to road disturbances have been adopted in this work due to their contribution in raising the car holding and stability. The improvement in these features was maintained via a robust control methodology. The Fractional Order PID controller tuned by the Whales Optimization Algorithm (WOA) and Particle Swarm Optimization (PSO) algorithm is suggested in this work as a robust controller to reduce the effect of these demerits. In this paper, an active quarter car suspension nonlinear system is designed for the presented goals using a robust controller. Minimizing the displacement of the car body and reducing the damping frequency are achieved via a nonlinear control strategy using the fractional order PID controller, which can maintain the required characteristics. Tuning the parameters of the FOPID controller is performed by using the Whales Optimization Algorithm (WOA). Robustness of the FOPID controller is examined and proved to withstand a system parameter variation of ±12 % in all system parameters and a maximum of ±80 % in controller parameter variation. Simulation outcomes also indicate a considerably improved performance of the active suspension system with the fractional order PID controller over the traditional PID.

scholarly journals Control of Inverted Pendulum Using Fractional Order PID Controllers Based on Particle Swarm Optimization

2018 ◽  
pp. 98-102
Author(s):  
Cemilcan Macit ◽  
Banu Ataslar Ayyildiz
Keyword(s):  
Particle Swarm Optimization ◽  
Fractional Order ◽  
Inverted Pendulum ◽  
Particle Swarm ◽  
Pid Controllers ◽  
Nonlinear Behaviour ◽  
Swarm Optimization ◽  
Pendulum System ◽  
Inverted Pendulum System ◽  
Fractional Order Pid

Issue of balance in robotics is best represented by the balancing act of the inverted pendulums. With their unstable and nonlinear behaviour, Inverted Pendulum systems are quite popular systems in which various control design methods are applied and performance comparisons are carried out. In this study, in order to control the pendulum angle and car position of the inverted pendulum system, a fractional order PID controller is designed. Gains of the designed controller are optimized by Particle Swarm Optimization method. On the other hand, for the aim of comparison of performance, conventional PID controllers are used for controllers. The optimum values of gains for PID controllers are also found by same optimization algorithm. The simulation results of both controllers are compared for the inverted pendulum.

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