The Off-Line and On-Line Fuzzy Backstepping Controllers for Rotary Inverted Pendulum System

Abstract

In this study a new combination of nonlinear backstepping scheme with fuzzy system is presented for controlling a rotary inverted pendulum system to achieve better performance in nonlinear controller approach. This study uses two different fuzzy systems: off-line and on-line to consider different concept. The purpose of this study is to design a stabilizing controller that balances the inverted pendulum in the up-right position.