Title :
Design of fractional controller for cart-pendulum SIMO system
Author :
Gopikrishnan, S. ; Kesarkar, Ameya Anil ; Selvaganesan, N.
Author_Institution :
Dept. of Avionics, Indian Inst. of Space Sci. & Technol. (lIST), Thiruvananthapuram, India
Abstract :
The cart-pendulum system is a typical benchmark problem for testing various control algorithms. Basically, it is a Single Input Multi Output (SIMO) system which has two output variables to be controlled (pendulum-angle and cart-position) using a single input (input voltage to power amplifier). This paper presents application of fractional calculus to the design of controllers for such a system. The controllers are tuned for the desired loop-shaping requirements by formulating constrained optimization problem so as to meet the required cart-position and inverted pendulum status. The performance of the tuned controllers is investigated.
Keywords :
MIMO systems; calculus; control system synthesis; nonlinear control systems; optimisation; pendulums; position control; benchmark problem; cart-pendulum SIMO system; cart-position control; control algorithms; fractional calculus; fractional controller design; inverted pendulum-angle control; loop-shaping requirements; optimization problem; single input multioutput system; tuned controllers; Adaptation models; Gravity; Inductance; MATLAB; Mathematical model; Resistance; Cart-pendulum; Oustaloup; PIαDβ; constrained optimization; fractional controller;
Conference_Titel :
Advanced Communication Control and Computing Technologies (ICACCCT), 2012 IEEE International Conference on
Conference_Location :
Ramanathapuram
Print_ISBN :
978-1-4673-2045-0
DOI :
10.1109/ICACCCT.2012.6320764
