Implementation of a PI-LIKE Fuzzy Control System for the Inverted Pendulum

• Main Authors: Jen-Huan Yu, 余仁煥
• Other Authors: Hung-Ching Lu
• Format: Others
• Language: en_US
• Published: 1993
• Online Access: http://ndltd.ncl.edu.tw/handle/79072812797534888433

碩士 === 大同工學院 === 電機工程研究所 === 81 === A fuzzy control system of Inverted Pendulum is designed and implemented in this thesis. At first, it adoptes the step- response phase trajectories to derive its linguistic control rules of its dynamics response curve, then applies the relationship of proportional and integral of input-output in Proportional-Integral (PI) controller, and converts 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. The fuzzy control system of Inverted Pendulum is finished by the decision table and membership function's shape. By using SBFC (Single Board Fuzzy Controller), made of Togai InfraLogic Inc., the system's firmware is proposed and the presented methods are matched. From system synthesis and performance analysis, The correction of theorem has verified, and the system can be implemented for future research.