Application of Fuzzy Control for Inverse Pendulum System

摘要

Fuzzy control is an intelligent control approach, but control rule base must firstly be built. In this paper, a new architecture of rule base in multiple variable control system is proposed. Multiple-variables system is very common in practice and every variable is coupling with others, it is not easy to design control rule base. New approach on rule design is depending on the priority of variables. Inverse pendulum is a good system for testing all kinds of control algorithms. Based on the idea, According to inverse pendulum system, there are two variables: inverse pendulum angle θ and cart position, there are strong couple relation in variables. Because the pendulum angle is more important variable that should be controlled at first while the pendulum position is the second important variable, the control rule base should designed under different priority's variable. If the first variable (angle) is not stable, then the position's control is no meaningless. This paper explains the architecture of the new rule base and discusses the implementation in cart-inverse pendulum system. Simulation results show that the method is effective for multiple variable control system.