Control and simulation of fractional order inverted pendulum systems

In this paper, a model of fractional inverted pendulum is constructed. Different controllers are designed to guaranteed closed-loop system stability. In the process of control, the integer order controller and the fractional order controller are used to control the system, respectively. Furthermore, we compare the integer order controller with the fractional order controller. In the process of analysis, the stability of the systems is analyzed in time domain and frequency domain, respectively. Besides it, the simulation results shows that the fractional order control systems have better stability if the proper fractional order is adopted.