Journal of Applied and Physical Sciences
Journal ISSN: 2414-3103
Article DOI:
Received: 2 July 2016
Accepted: 5 August 2016
Published: 25 October 2016
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  • A hybrid control design of FOPID and FWA for inverted pendulum systems

Te-Jen Su, Tung-Yeh Tsou, Shih-Mine Wang, Van-Manh Hoang, Kuo-Win Pin

Article first published online: 2016


Nowadays, along with the dramatic development of industrial automatic, optimization problem has been playing an important role in designing controllers for nonlinear systems. This paper proposes a hybrid control design of Fast Output Sampling Discrete Sliding Mode Control (FOSDSMC) and fractional order PID controller (FOPID) based on ϐireworks algorithm (FWA) to optimize controller parameters. The hybrid controller is veriϐied on a nonlinear inverted pendulum system. The simulation of controller optimization process is carried out using MATLAB/Simulink. The results are compared with two published controllers such as a hybrid control design of PID controller and fast output sampling discrete sliding mode control, and a hybrid control conϐiguration of PID and state feedback controller based on linear quadratic regulator method. The comparison results show the better performance of the proposed method.