Design and Implementation of FOPID and Modified FOPID for Inverted Pendulum Using Particle Swarm Optimization Algorithm

Abstract

This paper implements Fractional Proportional-Integral-Derivative controller (FOPID) in combination with Model Reference Adaptive Controller (MRAC) for balancing the inverted pendulum system. Particle swarm optimization (PSO) is used to optimize the FOPID controller parameters. One of the popular Non-dual adaptive controllers is the MRAC which is used in combination with FOPID to provide better dynamic system control performance as compared to the use of FOPID alone.