Development of Fractional Order Optimal Control Algorithm for Inverted Pendulum

Abstract

Presently the integer order algorithm are used to control the nonlinear systems like IP,FURUTA PENDULUM, and many more. Fractional order algorithms shows better performance over integer order algorithm. The op- timal fractional order algorithms are in developing stage. In this project the optimal fractional algorithms will be developed and it will be tested for the nonlinear system. For the nonlinear system, we will use the QuanserQuab servo 2 setup available at our laboratory. Fractional order EL and HJB equa- tions are theoretically derived during last decade. In this project, fractional order modeling of system will be done.Fractional order optimal control al- gorithm will be applied to nonlinear system. The fractional order optimal controller for that fractional order system will be designed.