Document Type : Original Article

Authors

• Amir Veisi ¹
• Mohsen Shiri ¹
• Hadi Delavari ²

¹ Department of Electrical Engineering, Faculty of Engineering, Bu-Ali Sina University, Hamedan, Iran

² Department of Electrical Engineering, Hamedan University of Technology, Hamedan, Iran

Abstract

A successfully validated and precise system model would greatly enhance the performance of the controller, making system identification a major procedure in control system design. The inverted pendulum is a highly nonlinear and open-loop unstable system that makes control more challenging. In this paper, at first, a novel fractional order sliding mode observer (FOSMO) is designed to estimate the state space of the rotary inverted pendulum, and after that, a fractional sliding fault estimation is proposed. The proposed observer had high accuracy and speed in fault and state observation because of the advantages of fractional calculus and the sliding mode observer method. The proposed observer is compared with the classical sliding mode observer

Keywords

• Fault Estimation
• Fractional Calculus
• Sliding Mode Observer
• Rotary Inverted Pendulum