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.