Robust fractional multi-controller design of inverted pendulum system

The paper presents a robust multi-controllers design applied to the control of classical, nonlinear, multivariable, unstable inverter pendulum systems. A brief overview of the principle of multi-controllers approach of control and the process with a non-linear and a linear mathematical modeling are presented. Here, we report on a novel type of fractional order controllers (as FOPID) used in a multi-controller approach to achieve a robust control. To approximate the fractional order, recursive approximation method (ORA) of Oustalouphas been used for FOPID. The controller's synthesis with the principle of approximation methodhas been presented. Simulations results are presented here to show the efficiency of the proposed approach with the settings parameters controller and the approximation order followed by a conclusion and some perspectives for future work.