Adaptive fuzzy control in the application of primary inverted pendulum

Abstract

In the stability control issues, The feature of the inverted pendulum is universal and typically. As a controlled object, it is a fairly complex and high-order, multivariate, nonlinear, strongly coupled system. Thus, a fuzzy controller is designed, and the fuzzy logic function is used to approximate the nonlinear function of inverted pendulum. An adaptive law is deduced for inverted pendulum, the controller parameters can be adjusted online and the control performance of the system is improved.