Abstract
In the paper the control of inverted pendulum by discrete, Quickly Adjustable Fractional Order PID (QAFOPID) controllers is addressed. The fractional order parts of the both controllers are approximated using CFE approximation. The fractional orders can be easily switched using predefined CFE coefficients loaded from memory. The QAFOPIDs were tuned using GWO optimizer and simulations. Results of simulations and experiments show that the use of QAFOPID controllers allows one to obtain good control performance in the sense of the considered cost function.
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This paper was sponsored by AGH project no 16.16.120.773.
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Oprzędkiewicz, K., Dziedzic, K., Rosół, M., Żegleń, J. (2020). Control of the Inverted Pendulum Using Quickly Adjustable, Discrete FOPID Controller. In: Bartoszewicz, A., Kabziński, J., Kacprzyk, J. (eds) Advanced, Contemporary Control. Advances in Intelligent Systems and Computing, vol 1196. Springer, Cham. https://doi.org/10.1007/978-3-030-50936-1_72
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DOI: https://doi.org/10.1007/978-3-030-50936-1_72
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