Fractional Order Controller Design For Inverted Pendulum On A Cart System (POAC)
نویسندگان
چکیده
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. Key–Words: Coefficient of friction, Fractional order controller (FOC), FOPID, IOC, PID, POAC, Underactuated robotic system.
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