Multi-Input Fuzzy control of an inverted pendulum using an armature controlled DC motor

Abstract

This paper presents a design methodology to stabilize a class of multi-variant nonlinear system after a high disturbance occurs. It investigates application of Takagi-Sugeno type fuzzy controller (T-S-FC) to an inverted pendulum mechanism, actuated by an armature-controlled DC electrical motor.

Fuzzy controllers use heuristic information in developing design methodologies for control of non-linear dynamic systems. This approach eliminates the need for comprehensive knowledge and mathematical modeling of the system, and in cases of more complex systems, approximation and simplifications in order to achieve feasible mathematical model is not required.

The paper presents the stages of development of the Fuzzy Controller for an inverted pendulum by developing a two-input, Mamdani type system. It evaluates the performance of the system. Then a four-input T-S-FC type is developed. The research compares performances of each controller and presents the result of tests. A model for a DC motor is developed in this study, in order to measure the effect of time delays and response time caused by inherent properties of the physical system. The final part will demonstrate the complete operational system with the DC electrical motor included in the test system.