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Design of Fractional Order MRAPIDC for Inverted Pendulum System


  • Electrical Engineering, PEC University of Technology, Chandigarh – 160012, India


Objectives: Adaptation law designed using MIT Rule, does not guarantee the stability of the system. So to improve the overall performance of adaptive system fractional order Proportional integral derivative controller (FOPIDC) is designed and compared with the Integral order Proportional integral derivative controller (PIDC). Methods/Statistical analysis: A controller design methodology is presented using Model Reference Adaptive System (MRAS) technique for an Inverted pendulum system using MIT Rule. The effect of change in the value of adaptation gain parameters to the response of the system has been studied. MATLAB/Simulation has been used to analyze the behavior of the system. Findings: Fractional order PID controller improves the overall transient performance better than the integral order PID controller do for MRAPIDC scheme using MIT Rule for inherently unstable system in the presence of external disturbances and band limited non-linearities. Addition to this, the time domain specifications such as rise time, settling time for different adaptation gains have been analyzed. Application/Improvements: Overall Performance of adaptive system using PID controller increased further by using fractional order PID controller.


Adaptation Gains, Fractional Order PID Controller, Inverted Pendulum System, MIT RULE, MRAC, Proportional Integral Derivative (PID) Controller

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