Control Of An Inverted Pendulum Using Fuzzy Logic

Mohd Hafizan , Anuar (2009) Control Of An Inverted Pendulum Using Fuzzy Logic. Project Report. UTeM, Melaka,Malaysia. (Submitted)

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Abstract

Inverted Pendulum System is a physical device consisting in a cylindrical bar which is usually made of aluminium, free to oscillate around a fixed pivot. The pivot is mounted on a cart, which can only moves in a horizontal direction. The cart can be exerted by a variable force. The bar would naturally tend to fall down from the top vertical position, which is a position of unsteady equilibrium. The goal of this project is to stabilize the inverted pendulum in upright position at all times while the cart stops at desired position. This is possible by exerting on the cart through the motor a force which tends to contrast the ‘free’ pendulum dynamics. The correct force has to be calculated measuring the instant values of the horizontal position and the pendulum’s angle. The controller used in this project is the Fuzzy Logic Controller. The modeling and analysis for this controller is done in MATLAB and Simulink. Therefore, the best control approach needs to be discovered in order to give the best performance for the inverted pendulum system. For this purpose the fuzzy logic controller is used with two sets of rules: first for swinging up the pendulum, and second for balancing the pendulum in upper position. Besides that, the inverted pendulum is also need to be placed at a desired location at the rail. Therefore, the best results we achieved with a combination of fuzzy and state controller which is PID.

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