A Comparative Stability Analysis of Inverted Pendulum using MIT Rule, Fractional-Order MIT Rule and Modified MIT Rule-based MRAC

• DOI: 10.46647/ijetms.2024.v08i01.031
• Publication Date: 2024-06-25T09:26:15Z
• Authors: Dhananjay Gupta; Awadhesh Kumar; Vinod Kumar Giri

In control engineering, Inverted Pendulum Systems (IPS) stability analysis is crucial. In this paper, a normal MIT (Massachusetts Institute of Technology) rule, fractional-order MIT (FOMIT) rule and modified MIT rule-based Model Reference Adaptive controller (MRAC) have been designed to stabilize IPS. The nature of the performance of IPS has also been analyzed to track a stable reference model. After implementation of all the three mentioned methods, it has been found that MRAC using the standard MIT rule is unable to control IPS and FOMIT rule-based MRAC method necessitates higher values of adaptation-gains to achieve the desired response, while modified MIT rule-based MRAC shows the desired response at reduced adaptation gain value. The performance analysis has been carried out by comparing the results obtained for all the three mentioned rules with the variations in the adaptation gain, rise time, settling time and peak overshoot on MATLAB/Simulink platform. The obtained results present encouraging outcomes.