title: Stabilization of an inverted pendulum-cart system by fractional PI-state feedback.
abstract: This paper deals with pole placement PI-state feedback controller design to control an integer order system. The fractional aspect of the control law is introduced by a dynamic state feedback as u(t)=K(p)x(t)+K(I)I(α)(x(t)). The closed loop characteristic polynomial is thus fractional for which the roots are complex to calculate. The proposed method allows us to decompose this polynomial into a first order fractional polynomial and an integer order polynomial of order n-1 (n being the order of the integer system). This new stabilization control algorithm is applied for an inverted pendulum-cart test-bed, and the effectiveness and robustness of the proposed control are examined by experiments.
authors: University of Sharjah, UAE/King Abdulaziz University, KSA. Electronic address: maamar@sharjah.ac.ae.
authors: M
authors: M
authors: Bettayeb
authors: University Mouloud Mammeri of Tizi-Ouzou, Algeria. Electronic address: chahiraboussalem@gmail.com.
authors: C
authors: C
authors: Boussalem
authors: University Mouloud Mammeri of Tizi-Ouzou, Algeria. Electronic address: rachid_mansouri_ummto@yahoo.fr.
authors: R
authors: R
authors: Mansouri
authors: King Abdulaziz University, KSA. Electronic address: usaggaf@kau.edu.sa.
authors: U M
authors: UM
authors: Al-Saggaf
keywords: Fractional calculus; Fractional systems; Inverted pendulum stabilization; Inverted pendulum-cart system; PI-state space feedback; Pole placement