Comparative Analysis of Two Loop Integer and Fractional Order PID Controller for Inverted Pendulum

Inverted pendulum is highly non-linear and unstable system, hence it's a challenging plant to control. So, the aim is to effectively control the inverted pendulum. This paper focuses on control of inverted pendulum by using proportional integral derivative (PID) and fractional order PID (FOPID) controllers. The system is controlled by using two loop PID controller. Further improvement in control is obtained by using two loop FOPID controller. The comparison of both the techniques is shown. Controllers are analyzed based on peak overshoot, control efforts, and performance indices. Simulation results demonstrate that the two loop FOPID controller gives improved response as compared to the two loop PID controller.