Investigating Stability of a Fuzzy Logic Controller based Inverted Pendulum Model
نویسنده
چکیده
In this paper, using the linearized equations of an inverted pendulum, a fuzzy logic controller (FLC) is designed for stabilizing its motion. The complete closedloop control system is observed for its output response employing unit step input. Further, an approach is presented for analyzing the stability nature of fuzzy logic controller. For this, utilizing the output membership values obtained from FLC, a scaled relation matrix is formulated which in turn is used to get the composition matrices. The characteristic equation of each composition matrix is tested for inferring the stability nature of fuzzy logic controlled system. This observation is tested with unit step input for the closed loop system having the inverted pendulum along with the FLC.
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