Real-time controlling of inverted pendulum by fuzzy logic

Abstract

Inverted pendulum is a typical multivariable, nonlinear, strong-coupling, instable system. The basic aim of our work was to balance a real pendulum in the position in center of course. For this purpose we used fuzzy logic controller. The fuzzy logic controller designed in the Matlab-Simulink environment. In this paper, the inverted pendulum mathematical model is built. MATLAB based Hardware in Loop simulation system is designed. A novel expert fuzzy control scheme was proposed. The proposed control scheme was implemented in Matlab and showed good performance in the real-time fuzzy control of the inverted pendulum. The results of simulation and experiment indicated that the control method has good control ability.