Optimum of fractional order fuzzy logic controller with several evolutionary optimization algorithms for inverted pendulum

Abstract This paper compared the performance between Integer Order Fuzzy PID (IOFPID) and Fractional (FOFPID) controllers for inverted pendulum system as a controlling plant. The parameters of each controller were tuned with four evolutionary optimization algorithms (Social Spider Optimization (SSO), Swarm (PSO), Genetic Algorithm (GA), Particle Ant Colony (ACO)). comparisons carried out two IOFPID FOFPID, well among controllers. results proved that FOFPID SSO has achieved best time response characteristics least tuning time.