Fuzzy control of a rotary inverted pendulum swing-up using MATLAB and SIMULINK.

摘要

The purpose of this work is to apply the rules of intelligent control systems and Fuzzy Logic to control the swing up of a rotary inverted pendulum. For this, a Fuzzy Logic Controller has been built in the FIS (Fuzzy Interface System) in MATLAB and then has been simulated using SIMULINK. The procedure for building the controller has been outlined and the Fuzzy scheme has been explained in detail. The results and graphs obtained after simulating the system have also been discussed.; Research on these type of pendulums started in the 80s by Katsuhisa Furuta and has been going on since then. He proposed a bang bang controller for the above mentioned pendulum system. The control of the pendulum system by using Fuzzy Logic has not been studied yet.; The future work and recommendations are also discussed in the end.