TELKOMNIKA Telecommunication Computing Electronics and Control
Optimal FOPI-FOPD controller design for rotary inverted pendulum system using grey wolves’ optimization technique

TELKOMNIKA Telecommunication Computing Electronics and Control
Optimal FOPI-FOPD controller design for rotary inverted pendulum system using grey wolves’ optimization technique

Integer and fractional order PI-
PD controllers

Optimization technique
RIP system

The rotary inverted pendulum (RIP) has been used in various control
application areas. This system can be represented as two degree of freedom
(2-DOF), consisting of a rotating arm and rotating pendulum rod. RIP is an
excellent example of designing a single-input multi-output (SIMO) system.
Due to unstable RIP system dynamics, and its nonlinear model, multiple
control techniques have been used to control this system. This paper uses
integer and fractional order proportional integral-proportional derivative
(PI-PD) controllers to stabilize the pendulum in the vertical direction.
Constrained optimization approaches, such as the grey wolf optimization
(GWO) methodology, are utilized to estimate the parametric values of the
controllers. The simulation results showed that the fractional order PI-PD
controller outperforms the integer order PI-PD controller with and without
disturbance signal existence. A multiple results comparison has illustrated
the superiority of fractional order controller over a previous work.

Muhannad A. Hasan, Ahmed A. Oglah, Mehdi J. Marie

http://telkomnika.uad.ac.id

Nov 12, 2022

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