Interval Type-2 Fuzzy Logic Controller to Control the Velocity and Angle of Inverted Pendulum
Anita Khosla, G Leena, Manish Kumar Soni · International Journal of Intelligent Systems and Applications · 2014
Inverted Pendulum is a well established benchmark problem that produces many challenges to a control engineer.It is a nonlinear, unstable, non minimumphase and under actuated system.Itrequires a controller which canadapt in different disturbance conditions and work appreciably well when compared to conventional controllers.In this paper Interval type-2 Fuzzy logic controllerfor inverted pendulum isdesigned.The objective of the proposed control technique is to develop the stability position of the pendulum.The optimal membership functions and the interference system are developed using IT2FLS.Using the IT2FLS, the position of the inverted pendulum is maintained towards the reference position.The proposed control techniqueis implemented in MATLAB/Simulink working platform and the control performances are evaluated.Then, the performance of proposed controller is evaluated and compared with the PI controller, Fuzzy controller andABC-FLC.