Stabilizing x -z Inverted Pendulum via Fractional Order PID Controller

In this paper, fractional order PID (FOPID) controller is implemented to stabilize x-z inverted pendulum (vertical inverted pendulum). Three FOPID controllers are used to control the angle and position (horizontal and vertical) of inverted pendulum. Mathematical model of the pendulum is used for designing the Simulink model and various parameters of the FOPID are obtained using the Whale optimization algorithm (WOA) technique. Simulation results obtained from FOPID is compared with PID controller. From the simulation results it is noticed that overall performance of the proposed controller is satisfactory with and without disturbances.