Fuzzy servo control of an inverted pendulum system
In this paper, an application of fuzzy servo control for stabilizing inverted pendulum system will be discussed. The inverted pendulum system is a simple system that consists of pendulum and cart but has strong nonlinearity and inherent instability. It is used as benchmark problem for study the...
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| Main Authors: | , |
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| Format: | Article |
| Language: | English |
| Published: |
2012
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| Subjects: | |
| Online Access: | http://eprints.utem.edu.my/id/eprint/11167/1/AROB_Journal_2012.pdf http://eprints.utem.edu.my/id/eprint/11167/ |
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| Summary: | In this paper, an application of fuzzy servo
control for stabilizing inverted pendulum system will be
discussed. The inverted pendulum system is a simple system
that consists of pendulum and cart but has strong
nonlinearity and inherent instability. It is used as benchmark
problem for study the performance and effectiveness
of new control method. The idea behind this control
method is to divide the operating region of nonlinear system
into small areas, and to treat as a collection of local
linear servo systems by using Davison–Smith method. The
control rule of each local linear servo systems is calculated
using pole assignment method proposed by Hikita. Fuzzy
method is applied to each local linear servo system and
combines it as new control rule. The simulations have been
done and the comparisons have been made between the
fuzzy servo control and linear servo control. The simulation
to study the effect of reference r = 0 is done. The
comparisons between different values of weight matrix Qn
for fuzzy membership function and disturbance also have
been done. The results show that the proposed method can
stabilize the system better than linear servo control and
follow the reference given. The effect of variant value of
values of weight matrix Qn for fuzzy membership function
and disturbance also can be observed. |
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