Design of State Feedback LQR Based Dual Mode Fractional Order PID Controller Using Inertia Weighted PSO Algorithm with Reference Model: For Control of an Underactuated System With and Without Disturbance

Abstract Several control strategies are proposed and developed to improve the performance of the different underactuated systems, particularly inverted pendulum. This paper proposes the dual-mode fractional order control with a reference model for pitch and angle control of an inverted pendulum system. Inertia weighted particle swarm optimization is employed to the tuning of FOPID controller which ensures an optimal balance between local and global search. The optimal parameters of the FOPID controller are obtained by minimizing the error between the reference output and plant output which improves the steady-state tracking error also. An optimal state feedback LQR control is implemented using pole placement design in the feedback to stabilize and improve the robustness of the inverted pendulum. Extensive simulation and comparisons of the proposed structure show that the designed FOPID controller structure has an excellent performance in with and without disturbance conditions compared to the PID controller.