A cascade fuzzy control system for inverted pendulum based on Mamdani-Sugeno type
Zhaohong Ding, Zhenyu Li · 2014
An inverted pendulum is typically an unstable and nonlinear system with multi-variables and strong coupling. This paper proposes a new type of cascade fuzzy control design in which Sugeno fuzzy controller is used on the inner loop to control pendulum swing angle while Mamdani fuzzy controller is used on the outer loop to control trolley displacement. Simulink simulation suggests that the fuzzy control design is highly efficient. The impact of numerical and scale factors on the control system is also studied.