Novel fractional order PDμ controller for open-loop unstable inverted pendulum system

The single link rotary inverted pendulum (SLRIP) is a single input multi output open loop unstable system. Several control strategies have been reported in the literature to intensify the performance of it. The present paper attempts to explore a method to stabilize a pendulum link in upright position with a focus to minimize the deviation in rotational arm. The parameters of proposed fractional controller is obtained by a simple tuning technique which comprises analytical computations as well as graphical procedure to tune the fractional parameters. The usability of the proposed controller are verified through the experimental implementation and fractional stability analysis.