Stabilization of Mobile Inverted Pendulum Using Fractional Order PID Controllers

Abstract

Mobile inverted pendulum (MIP) is a popular nonlinear robotic system used by researchers to perform control experiments. The MIP has two wheels to move and balance the pendulum. In this paper fractional order PID controllers have been used for the stabilization of MIP system. Fractional order PID controllers have been used to provide a robust design of the controllers for the stabilization of MIP system. A two loop control scheme has been used for stabilization of MIP system one controller is used for controlling the position of the MIP system and the other controller is used for controlling the pendulum angle of the system. The tuning of the fractional order PID controllers has been done using trial and error method. Simulation results obtained by both simple PID controllers and fractional order PID controllers are compared and it is shown that we get better response with fractional order PID controllers.