On the classical and fractional control of a nonlinear inverted cart-pendulum system: a comparative analysis

José Geraldo Telles Ribeiro (1) , Julio Cesar de Castro Basilio (1) , Americo Cunha Jr (1) , Tiago Roux Oliveira (1)

1 UERJ - Universidade do Estado do Rio de Janeiro [Brasil] = Rio de Janeiro State University [Brazil] = Université d'État de Rio de Janeiro [Brésil]

The use of fractional-order controllers to drive dynamical systems to a desired/target configuration became extremely popular in the last decade, with many studies stating that they present superior performance when compared to the integer-order counterparts, especially for nonlinear systems. Following this trend, the purpose of this chapter is to verify the possibility of improving the performance of the control of an inverted cart-pendulum system using fractional-order in-tegrators. The strategy is to employ the classical pole location linear method to calculate the gains of the controller and then to compare the performance between integer-order and fractional-order integrators, the last one that are calculated using an optimization method.

Mots clés: fractional calculus; state-derivative feedback; fractional-order control; cart-pendulum nonlinear system

Domaines: Optimisation et contrôle [math.OC]; Systèmes dynamiques [math.DS]; Vibrations [physics.class-ph]; Génie mécanique [physics.class-ph]; Science non linéaire [physics]

José Geraldo Telles Ribeiro, Julio Cesar de Castro Basilio, Americo Cunha Jr, Tiago Roux Oliveira. On the classical and fractional control of a nonlinear inverted cart-pendulum system: a comparative analysis. José Manoel Balthazar. Vibration Engineering and Technology of Machinery, Springer, Cham, pp.397-417, 2021, ⟨10.1007/978-3-030-60694-7_26⟩. ⟨hal-02682328⟩