Fuzzy Controller for Rotary Inverted Pendulum

Abstract

Fuzzy controller is a part of intelligent control. This classical method is easily designed and used. Fuzzy algorithm has been proved to be suitable for various under-actuated models. In this article, authors verify this algorithm. Rule table is created from experience of experts and controller parameters is chosen by trial and error test from observing real response. In this paper, the algorithm is applied to stabilize rotary inverted pendulum which has high nonlinear properties. By Takagi-Sugeno method in MATLAB software, rule table concludes of 81 rules. These rules are established by experience of operator. The paper presents simulation and experimental results and shows that the model is stable. Moreover, the process of control parameters is also concerned in experiment.

Keywords

• Fuzzy Controller
• Rotary Inverted Pendulum
• Takegi-Sugeno
• under-actuated
• intelligent control