Fuzzy Swing-up and Stabilization of Real Inverted Pendulum Using Single Rulebase
نویسنده
چکیده
In this paper a real time control for swing-up stabilization of inverted pendulum is designed using Fuzzy logic. In the model proposed here a single rulebase is used to control both position and angle simultaneously during both swing-up and stabilization. The proposed fuzzy control scheme successfully fulfills the control objectives and also has an excellent stabilizing ability to overcome the external impact acting on the pendulum system. The effectiveness of this controller is verified by experiments on a simple inverted pendulum with fixed cart length.
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