A Novel Method to Balance Inverted Pendulum by Angle Sensing Using Fuzzy Logic Supervised PID Controller

Abstract

Inverted pendulum system is a nonlinear unstable system, an ideal experiment platform for teaching control theories and conducting various control experiments. Many abstract control concepts, such as the stability and the controllability of a control system, can all be shown visually through the inverted pendulum system. In addition to educational purposes, an inverted pendulum is also a research area for many researchers of modern control theories. Through the continuous research on new ways of controlling inverted pendulum, researchers have developed new control methods, and apply them to the high tech areas such as aeronautical engineering and robotics. Thanks to the characteristics of the system, such as high-order, instability multi-variables, non-linearity and strong coupling. This paper highlights the application and stability of inverted pendulum using fuzzy logic supervised PID controller. We are trying to propose a new method to control inverted pendulum using angle sensor.

Keywords

• Inverted Pendulum
• Stability
• Control system
• Robotics arms
• Angle sensor