A PI-like fuzzy controller implementation for the inverted pendulum system
Ta‐Hsiung Hung, Ming‐Feng Yeh, Hung‐Ching Lu · 2002
A PI-like fuzzy controller is designed and implemented for the inverted pendulum system. First, the proposed fuzzy controller adopts the step response phase trajectories to derive the corresponding linguistic control rules of such a system, then applies the relationship between input and output signals in a proportional integral controller to convert the relationship of linguistic control rules to a decision table. At the same time, the membership function's shape is mapped and tuned with constant proportional gain and constant integral gain. Finally, the fuzzy controller of the inverted pendulum system is accomplished by the designed decision table and the determined membership function. By using the Single Board Fuzzy Controller, made by Togai InfraLogic Inc., the proposed methods are proved.