Fractional order based robust right coprime factorization control for an inverted pendulum

摘要

Fractional order based robust right coprime factorization control is proposed for an inverted pendulum. The mathematical model is firstly derived from Lagrange Equation and its parameters are identified by using fractional order modeling and control toolbox. Then, the right factorization of the model is obtained and the right coprime factorization controllers are designed satisfying the robust stability condition. Finally, simulation and experiment are carried out, and the results shows that by using the proposed fractional order based robust right coprime factorization control, the overshoot and setting time are very small.