Stabilization of an inverted pendulum-cart system by fractional PI-state feedback

被引：63

作者：

Bettayeb, M. ^{[1
]}

Boussalem, C. ^{[2
]}

Mansouri, R. ^{[2
]}

Al-Saggaf, U. M. ^{[3
]}

机构：

[1] UAE King Abdulaziz Univ, Univ Sharjah, Jeddah, Saudi Arabia

[2] Univ Mouloud Mammeri Tizi Ouzou, Tizi Ouzou, Algeria

[3] King Abdulaziz Univ, Jeddah, Saudi Arabia

来源：

ISA TRANSACTIONS | 2014年 / 53卷 / 02期

关键词：

Fractional calculus; Fractional systems; PI-state space feedback; Pole placement; Inverted pendulum-cart system; Inverted pendulum stabilization; LINEAR-SYSTEMS; CONTROLLERS;

D O I：

10.1016/j.isatra.2013.11.014

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

This paper deals with pole placement PI-state feedback controller design to control an integer order system. The fractional aspect of the control law is introduced by a dynamic state feedback as u(t) = K(p)x(t) + KIT alpha(x(t)). The closed loop characteristic polynomial is thus fractional for which the roots are complex to calculate. The proposed method allows us to decompose this polynomial into a first order fractional polynomial and an integer order polynomial of order n-1 (n being the order of the integer system). This new stabilization control algorithm is applied for an inverted pendulum-cart test-bed, and the effectiveness and robustness of the proposed control are examined by experiments. Crown Copyright (C) 2013 Published by Elsevier Ltd. on behalf of ISA. All rights reserved.

引用

页码：508 / 516

页数：9

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