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

Table 5

Values of controller parameters.

Controller	𝐾𝑃	𝐾𝐼	𝐾𝐷	𝜆	𝜇	𝐽
PI^𝜆D^𝜇1	22.4734	1.8185	3.1337	0.3579	0.9038	1.7131
PI^𝜆D^𝜇2	−1.6749	−0.7636	−1.8977	0.4764	0.8908
PID1	23.9288	1.2548	3.2143	—	—	1.8449
PID2	−2.6622	−1.3422	−2.7675	—	—