A performance analysis of fractional order based MARC controller over optimal fractional order PID controller on inverted pendulum

Abstract

This paper presents a new way to design MIT rule as an advanced technique of MARC (Model Adaptive Reference Controller) for an integer order inverted pendulum system. Here, our work aims to study the performance characteristics of fractional order MIT rule of MARC controller followed by optimal fractional order PID controller in MATLAB SIMULINK environment with respect to time domain specifications. Here, to design fractional order MIT rule Grunwald-Letnikov fractional derivative calculus method has been considered and based on Grunwald-Letnikov fractional calculus rule fractional MIT rule has been designed in SIMULINK. The proposed method aims finally to analyze overall desired closed loop dynamic performance on inverted pendulum with different performance criteria and to show the desired nature of an unstable system over optimal fractional order PID controller.

Effect of adaptation gain and reference model in MIT and Lyapunov rule–based model reference adaptive control for first- and second-order systems

“…Among different types of adaptive control methods, this paper mainly discusses the MIT and Lyapunov rules of the MRAC scheme separately for first- and second-order systems. In MRAC (Mukherjee et al, 2018a; Patra, 2020; Sethi et al, 2017; Stellet, 2011), the output response is made to roughly trace the response of a reference model despite changes in the plant’s parameters. This process is accomplished by forcing the output response to resemble the response of the reference model.…”