Fractional order PD control of Furuta pendulum: D-decomposition approach

被引：0

作者：

Mandic, Petar ^{[1
]}

Lazarevic, Mihailo P. ^{[2
]}

Sekara, Tomislav B. ^{[3
]}

机构：

[1] Univ Belgrade, Fac Mech Engn, Belgrade, Serbia

[2] Univ Belgrade, Fac Mech Engn, Dept Mech, Belgrade, Serbia

[3] Univ Belgrade, Fac Elect Engn, Signals & Syst Dept, Belgrade, Serbia

来源：

2014 INTERNATIONAL CONFERENCE ON FRACTIONAL DIFFERENTIATION AND ITS APPLICATIONS (ICFDA) | 2014年

关键词：

fractional order PID; D-decomposition; asymptotic stability; inverted pendulum I; SYSTEMS;

D O I：

暂无

中图分类号：

O29 [应用数学];

学科分类号：

070104 ;

摘要：

This paper deals with stability problem of inverted pendulum controlled by a fractional order PD controller. Ddecomposition method for determining stability region in controller parameters space is hereby presented. The Ddecomposition problem for linear systems is extended for linear fractional systems and for the case of nonlinear parameters dependence. Some comparisons of fractional and integer order PID controllers are given based on simulation results.

引用

页数：6

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