Optimization of a fractional order controller for the Furuta pendulum with an output disturbance using a genetic algorithm

This study presents optimal control design based on the fractional controller for the Furuta pendulum model with a disturbance on the output. This work solves the task of stabilizing the Furuta pendulum in an upright position. A solution is obtained by applying the two main control systems: integer order, fractional order (different values of order are included in the research). Tuning of the designed control systems is done using genetic algorithm optimization with constraints. The proposed cost is described by a quadratic function based on LQR control design. The comparison of the designed control system is conducted including comparative analysis based on simulations. Overall, the results of simulations reveal that the fractional order controller with the smallest designed order outperforms integer order controller in stabilizing the Furuta pendulum system with the presence of the significant output disturbance.