Hybrid fuzzy logic control to stabilize an inverted pendulum from arbitrary initial conditions

摘要

Presents a new hybrid fuzzy logic controller which can balance an inverted pendulum supported on a linear track cart starting from arbitrary initial conditions for the pendulum. The controller is hybrid in the sense that it combines fuzzy logic, deterministic rules and energy based control concepts. The experimental equipment is briefly described and the controller structure defined. Performance of the controller with hardware-in-the-loop is then presented. The paper concludes with a design challenge for control systems designers.