Fractional Order Time Delayed Acceleration Feedback Control of Inverted Pendulum System

The issue of human balancing in the sagittal plane using fractional order time delayed acceleration feedback is studied in this contribution. The problem of asymptotic stability of closed-loop fractional order neutral time delay system is solved by applying the D-decomposition approach. Stability regions in the control parameters space are determined using this method. Special attention was focused on the consideration of the influence of the time delay on the asymptotic stability of the system. Finally, simulation results are presented to illustrate the superiority and effectiveness of the proposed method.