Application of fuzzy set theory to stabilization of an inverted pendulum by high speed fuzzy logic controller

Abstract

Fuzzy controllers (FCs) have found various applications in industry as well as in household appliances. For complex systems that are not easily controlled by conventional control schemes, FCs provides a feasible alternative since they can easily capture the approximate, qualitive aspects of human knowledge and reasoning. This paper presents a survey of fuzzy set theory, fuzzy logic controller (FLC), a general strategy for constructing a FLC and evaluation-of its performance. The control of stability in an inverted pendulum is given as an example control problem. It is a model of stabilizing a pole. The authors present a more interesting example to evaluate the control technology. It is very difficult, if not impossible to control the pole, because the pole which swings back and forth by the external disturbance to change the center of gravity of the pole. By using the FLC, minimum pole swing is provided in high speed operation, and also further system developments in high level control algorithm and operational difficulties are eliminated.< >