Author(s):
1. Petar Mandic, Mašinski fakultet Univerziteta u Beogradu, Serbia
2. Mihailo Lazarevic, Mašinski fakultet Univerziteta u Beogradu, Serbia
3. Tomislav Šekara, Elektrotehnički fakultet, Univerzitet u Beogradu, Bulevar Kralja Aleksandra 73, Serbia

Abstract:
This paper deals with stability problem of cart inverted pendulum controlled by a fractional order PD controller. Inverted pendulum is an underactuated mechanical system because it has one control input and two degrees of freedom. Detailed mathematical model of pendulum is derived using the Rodriguez method. The control strategy consists of two parts, a swing up controller and stabilizing controller. The problem of asymptotic stability of closed loop system is solved using the D-decomposition approach. D-decomposition technique is extended for linear fractional systems and for the case of linear parameters dependence. Stability regions in control parameters space are determined, and tuning of the fractional order controller can be carried out.

Key words:
inverted pendulum,fractional order PID,D-decomposition,asymptotic stability

Thematic field:
Mechatronics and Information Technology

Date of abstract submission:
02.03.2015.

Conference:
12th International conference on accomplishments in Electrical and Mechanical Engineering and Information Technology (DEMI 2015)

Final paper