Author

Hasan Zorlu

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Open access Aug 2026

Scenario-Based Robust Tuning and Generalization Analysis of PID and Fractional-Order PID Controllers for a Nonlinear Cart-Inverted Pendulum Under Parametric and Disturbance Uncertainty

Robust controller tuning is essential for nonlinear systems operating under plant uncertainty and external disturbances. This study proposes a scenario-based framework for tuning PID and FOPID controllers for a nonlinear cart-inverted-pendulum system, using separate training and test scenarios to assess generalization....

Hasan Zorlu, Merve Türktam, Selim Soylu · Applied Sciences · 0 citations

Open access 2026

Adaptive Hybrid Metaheuristic Optimization for FOPID-Based Controller-Energy CODESIGN in Nonlinear Underactuated Systems

Nonlinear underactuated systems pose significant challenges for controller design owing to their instability, nonlinear dynamics, strong state coupling, and sensitivity to parameter variations. This paper presents an adaptive hybrid optimization framework for controller-energy CODESIGN in nonlinear systems. The term ‘a...

Merve Türktam, Hasan Zorlu, Selim Soylu · IEEE Access · 0 citations