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

Table 4

Range of controller parameters.

Controller parameters	Range
𝐾𝑃1,𝐾𝐼1,𝐾𝐷1,−𝐾𝑃2,−𝐾𝐼2,−𝐾𝐷2	{0, 50}
𝜆1,𝜇1,𝜆2,𝜇2	{0, 1}