An implementation of a rotational inverted pendulum using adaptive fuzzy controllers

Abstract

In this paper, three controllers are considered for a rotational inverted pendulum system (RIPS). The control objectives are to position the pendulum at the upright position and to regulate it at the specified position. The fuzzy control is an effective way to achieve the control objectives in a nonlinear system such as the RIPS. PID controller, fuzzy PID controller and adaptive fuzzy controller are proposed to obtain increased control performance and stability. This paper consists of three parts: (1) modeling of the RIPS, (2) introduction of three control methods for the control of the system, and (3) making a prototype of the system and experimental environment to compare the performances of three controllers.