MATHEMATICAL MODELING OF AN INVERTED PENDULUM USING FUZZY

      The inverted pendulum is a highly nonlinear and open-loop unstable system. This means that standard linear techniques cannot model the nonlinear dynamics of the system.  The inverted pendulum is related to rocket or missile guidance, where thrust is actuated at the bottom of a tall vehicle. The system consists of an inverted pole hinged on a cart which is free to move in the x direction. The aim of developing an inverted pendulum in Matlab-Simulink is that the developed model will have the same characteristics as the actual process. It will be possible to test each of the prototype controllers in the Matlab environment. For this purpose we use Multi-Level Fuzzy Controller which has two-input single-output controller with a two-level, hierarchical structure.

Reference Paper: Real-Time Controlling of Inverted Pendulum by Fuzzy Logic
Author’s Name:  Yanmei Liu, Zhen Chen and Dingyu Xue ; Xinhe Xu
Source: IEEE
Year: 2009

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