The Use of Fuzzy Logic in the Control of an Inverted Pendulum

Fuzzy logic control is an example of the type of developing the control algorithms using softcomputing, reflecting the imperfections of the real world. The main principle of this type of programming and, therefore, fuzzy logic is to use uncertainty and a part of the truth hidden in the received information in order to achieve the stability and the shortest possible time and simplicity of the implementation. The paper presents an example of using the fuzzy controller in order to maintain proper control of an inverted pendulum. Prepared model of an inverted pendulum pivotally mounted on a carriage represents a nonlinear dynamic object with two degrees of freedom. Control of the system is accomplished by force extortion of the corresponding displacement of the carriage. On the basis of derived equations of motion, the dynamic model of the system in Matlab/Simulink was prepared. At the stage of building a fuzzy controller, they proposed input and output linguistic variables with the respective functions of belonging and base rules. In this paper, the results of a simulation operation of the system of fuzzy logic were presented. Also the advantages and disadvantages of the proposed control method were discussed.