THE STABILIZATION OF FORCED INVERTED PENDULUM VIA FUZZY CONTROLLER

Padmasruthy S A

Abstract: In the field of nonlinear control engineering, the inverted pendulum can be considered as a bench mark problem. For an inverted pendulum, there are mainly two types of equilibrium which are categorized as stable equilibrium and unstable equilibrium. The stable equilibrium is the one in which the pendulum is in normal pendent position and not requires any control force since because it is naturally stable. Under the influence of an external force, the stable equilibrium loses its stability and there comes the need of a stabilizing controller. Therefore unstable equilibrium refers to the pendulum in upright position strictly under the influence of a stabilizing controller. The inverted pendulum is strictly nonlinear, under actuated system; challenging task comes with the stability analysis. A forced inverted pendulum is considered which has been modeled with respect to the cart motion. To improve the performance and stabilize the system, a fuzzy controller is designed for the respective system. Simulation results validate the fact that the stabilization is achieved through out and the perfect result is obtained for the system.

Keywords: Fuzzy, Heuristic, Forced Inverted Pendulum

DOI: https://doi.org/10.15623/ijret.2016.0503032