Stablizing x-y Inverted Pendulum via Frictional Order PID Controller

This paper implemented the frictional order PID (FOPID) controller to stabilize the x-y inverted pendulum. Four FOPID controllers are used to control the inverted pendulum angles and position in both x-axis and y-axis directions. Simulation is carried out for the x-y inverted pendulum to show the effectiveness of the proposed controllers. The results are benchmarked with the conventional PID controller. Its notice that, the FOPID controllers reduced the area for the x-y inverted pendulum movement to accomplish its stability by 21.51% compared to the use of the traditional PID controllers.