The Design of Fuzzy Control for Linear and Nonlinear Inverted Pendulum

• Main Authors: LIU, SHU-YUAN, 劉書源
• Other Authors: 孔健君
• Format: Others
• Language: zh-TW
• Published: 2016
• Online Access: http://ndltd.ncl.edu.tw/handle/rdm3wv

碩士 === 國防大學理工學院 === 機械工程碩士班 === 104 === This study tries to design the fuzzy controller for both linear and nonlinear inverted pendulum pulley system. First, equations of motion for nonlinear inverted pendulum are introduced and then are converted into linear and nonlinear state space representation. Next, fuzzy controllers for both linear and nonlinear inverted pendulum system are designed. In this study, two fuzzy knowledge bases are applied to design the fuzzy controllers to improve the control effectiveness. In order to verify the effect of the fuzzy controller, in addition to the regulation tests back to the equilibrium point under different initial conditions, the experiments of the initial conditions put to the most distant points from the equilibrium point for the nonlinear inverted pendulum system are studied. The simulated results show that the fuzzy controllers proposed in this study are feasible and effective for linear and nonlinear inverted pendulum pulley system. However, the pulley state is not incorporated into the control system. Therefore, the fuzzy controller is divided into pulley position controller and the pendulum angle controller, designed four variable number of tandem inverted pendulum fuzzy control system architecture simulation and verification. The results show the effectiveness of this system to solve the problem and pulley uncontrolled together with the pendulum to reach convergence.