Intelligent control of nonlinear inverted pendulum dynamical system with disturbance input using fuzzy logic systems

Abstract

The inverted pendulum, a highly nonlinear unstable system is used as a benchmark for implementing the control methods. Fuzzy control, one of the intelligent control techniques, uses the human expert knowledge to make control decisions. In this paper the modeling and control design of nonlinear inverted pendulum-cart dynamic system with disturbance input have been presented. Here PID control and fuzzy control methods using Mamdani and Takagi-Sugeno-Kang (TSK) fuzzy inference systems have been implemented. The MATLAB-SIMULINK models have been developed for simulation of the control schemes. The simulation results justify the comparative advantages of fuzzy control methods.