Abhaya Pal Singh, Himanshu Agarwal, Pallavi Srivastava, "Fractional Order Controller Design for Inverted Pendulum an a Cart System (POAC) Inverted Pendulum On A Cart System (POAC)," WSEAS Transactions on Systems and Control, vol. 10, pp. 172-178, 2015, DOI:
Abhaya Pal Singh, Himanshu Agarwal, Pallavi Srivastava. Fractional Order Controller Design for Inverted Pendulum an a Cart System (POAC) Inverted Pendulum On A Cart System (POAC).
WSEAS Transactions on Systems and Control. 2015;10:172-178.
WSEAS Transactions on Systems and Control
Print ISSN: 1991-8763, E-ISSN: 2224-2856
Volume 10, 2015
Fractional Order Controller Design for Inverted Pendulum an a Cart System (POAC) Inverted Pendulum On A Cart System (POAC)
Authors: , ,
Abstract: In this paper we propose a Fractional Order Controller for an under-actuated system (POAC). This system has two degrees-of-freedom and one control input. The model of the system is derived using Euler Lagrange method and the stabilization is achieved with constraints using Fractional Order Controller. To validate the control law, simulation are performed and compared with Integer Order Controller.
Keywords:
Coefficient of friction, Fractional order controller (FOC), FOPID, IOC, PID, POAC, Underactuated robotic system
Pages: 172-178 WSEAS Transactions on Systems and Control, ISSN / E-ISSN: 1991-8763 / 2224-2856, Volume 10, 2015, Art. #19 DOI: *As the DOI is a unique identifier, it is already available in the pdf version.
**The DOI link will be activated in the first midst of January 2026.
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