FUZZY CONTROLLER FOR AN INVERTED PENDULUM

Ivan Masár - Igor Jucha - Milan Žalman

   The control of an inverted pendulum is a problem commonly used in undergraduate control theory classes. The main advantages are in a not very difficult model of this non-linear system and in the interesting and dramatic experiments that can be provided. On this system it is possible to show the difficulties in controlling a plant having unstable open-loop poles. This paper describes the fuzzy controller foundations, differences between Mamdani and Takagi-Sugeno inference systems and a fuzzy controller that includes a pole placement controller for an inverted pendulum design. Experimental results are presented.

Keywords: fuzzy controller, Takagi-Sugeno inference system, inverted pendulum, pole placement control

[full-paper]