1. Petar Mandic, Машински факултет Универзитета у Београду, Serbia
2. Mihailo Lazarevic, Машински факултет Универзитета у Београду, Serbia
3. Tomislav Šekara, Електротехнички факултет, Универзитет у Београду, Булевар Краља Александра 73, Serbia
This paper deals with stability problem of cart inverted pendulum controlled by a fractional order PD controller. Inverted pendulum is an underactuated mechanical system because it has one control input and two degrees of freedom. Detailed mathematical model of pendulum is derived using the Rodriguez method. The control strategy consists of two parts, a swing up controller and stabilizing controller. The problem of asymptotic stability of closed loop system is solved using the D-decomposition approach. D-decomposition technique is extended for linear fractional systems and for the case of linear parameters dependence. Stability regions in control parameters space are determined, and tuning of the fractional order controller can be carried out.
Кључне речи :
Тематска област:
Mechatronics and Information Technology
Датум:
02.03.2015.
