OPTIMIZATION OF PID CONTROLLER FOR INVERTED PENDULUM SYSTEM USING FUZZY LOGIC CONTROLLER

• Main Author: ISMAIL, MAIZURA
• Format: Final Year Project
• Language: English
• Published: Universiti Teknologi Petronas 2005
• Subjects: TK Electrical engineering. Electronics Nuclear engineering
• Online Access: http://utpedia.utp.edu.my/7743/1/2005%20-%20OPTIMIZATION%20OF%20PID%20CONTROLLER%20FOR%20INVERTED%20PENDULUM%20SYSTEM%20USING%20FUZZY%20LOGIC%20CONTROLLER.pdf; http://utpedia.utp.edu.my/7743/

This project is mainly about the optimization of PID controller for inverted pendulum system using fuzzy logic controller (FLC). The first part includes the background of study, the problem statement, the scope and the objective of the project. This part will briefly discuss the limitation of the current system. Basically, when perturbation is applied to the pendulum, the system will take some time to be stable. Thus, the main objective of this project is to find the optimum stable point of the system in order to reduce the oscillations of the pendulum and to minimize the time taken to stabilize the system. The literature review and theory part will discuss the journals and books regarding the inverted pendulum as well as their supported theories. The next part of this report is the methodology part. This part will briefly explain the work flow of the project in order to achieve the aim of this project. The steps taken are literature review and research, experimental stage, the design stage, and finally the analysis and comparison between the controllers. This project will deal with the inverted pendulum itself and softwares such as MATLAB and fuzzyTECH. Thus, full understandings of those softwares are needed for this project. The discussion part will discuss the findings and the understanding of the inverted pendulum, PID controller and FLC. Finally, chapter five gives the conclusion and some recommendations for future work regarding the project. In conclusion, the simulation part of this project has been successfully completed although the testing on the physical system still in progress.