Stabilization of Inverted Cart-Pendulum System Using PIλDμ Controller : A Frequency-Domain Approach

الملخص EN

This paper focuses on the angular stabilization of inverted cart-pendulum system using PIλDμ controller.

The tuning of PIλDμ controller is formulated as a nonlinear optimization problem, in which the objective function is composed of five design conditions in frequency domain.

Particle swarm optimization technique has been used for optimizing PIλDμ parameters.

Also a PID controller has been designed based on same specifications, and a comparative study has been carried out.

All the responses have been calculated using FOMCON toolbox of Matlab/Simulink.