Investigation on Fractional Order Controller Using Ball-and-Beam System

In this work, an investigation on fractional-order (PID mu)-D-lambda controller is done. Its superiority is experimentally validated over a highly non-linear Ball-and-Beam (BB) mechanical system. Tuning of control parameters is done using a genetic algorithm for conventional and fractional order controllers. Stability analysis of fractional-order (PID mu)-D-lambda controller is done in terms of bode plot and step response. Furthermore, the external disturbances are considered to see the robustness of fractional controllers. Experimental results illustrate the better performance of the (PID mu)-D-lambda controller comparing with the traditional PID controller.