Development of inverted pendulum system and fuzzy control based on MATLAB

摘要

The hardware of an inverted pendulum system was developed with low-cost and high reliability and stability, Meanwhile, a novel expert fuzzy control scheme and the MATLAB-based real-time control approach was proposed. The number of fuzzy control rules was significantly reduced by combining related variables, and the control performance was greatly improved by adopting a suitable rule-base according to the angle of the pole with the vertical. The proposed control scheme was implemented in MATLAB and showed a good performance in the real-time fuzzy control of the developed inverted pendulum.