Table of Contents Author Guidelines Submit a Manuscript
Journal of Engineering
Volume 2014, Article ID 752918, 9 pages
Research Article

Stabilization and Tracking Control of Inverted Pendulum Using Fractional Order PID Controllers

Department of Electrical Engineering, Motilal Nehru National Institute of Technology, Allahabad 211004, India

Received 7 February 2014; Revised 5 March 2014; Accepted 2 April 2014; Published 23 April 2014

Academic Editor: Haranath Kar

Copyright © 2014 Sunil Kumar Mishra and Dinesh Chandra. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.


This work focuses on the use of fractional calculus to design robust fractional-order PID (PIλDμ) controller for stabilization and tracking control of inverted pendulum (IP) system. A particle swarm optimisation (PSO) based direct tuning technique is used to design two PIλDμ controllers for IP system without linearizing the actual nonlinear model. The fitness function is minimized by running the SIMULINK model of IP system according to the PSO program in MATLAB. The performance of proposed PIλDμ controllers is compared with two PID controllers. Simulation results are also obtained by adding disturbances to the model to show the robustness of the proposed controllers.