Design and simulation of inverted pendulum system based on the fractional PID controller

This paper implements fractional order controller to the compound control, taking the first-order inverted pendulum system as the plant, In which, using direct compensator to reach steady. Then we give the design method of fractional order PID controller (PI
^λ
D
^μ
controller), fractional order (PD
^μ
controller controller), integer order PID controller and optimize parameters based on genetic algorithm. The simulation results prove that the proposed method can achieve high performance comparing the PID controller.