Output Feedback based Adaptive Control for Fractional Order Inverted Pendulum on Cart in NSOF Domain

Output feedback based adaptive fractional order proportional-integral-derivative controller in conjunction with static state feedback technique is proposed for the tracking control of an fractional order inverted pendulum on a cart model. The static gains are used to remove the effect of friction and damping of the system and adaptive controller takes care of the disturbance uncertainties of the system. The fractional order adaptation rules and fractional order state predictor and plant model are solved via non-sinusoidal orthogonal function domain. Simulation result shows the effectiveness of the fractional order model and controller over the integer order model when a tracking control is considered.