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Fuzzy Logic Based Intelligent Control and Optimal Control of a Rotary Inverted Pendulum System

[+] Author Affiliations
Devendra P. Garg, Piyush Jain

Duke University, Durham, NC

Paper No. IMECE2002-33449, pp. 243-248; 6 pages
  • ASME 2002 International Mechanical Engineering Congress and Exposition
  • Dynamic Systems and Control
  • New Orleans, Louisiana, USA, November 17–22, 2002
  • Conference Sponsors: Dynamic Systems and Control Division
  • ISBN: 0-7918-3629-0 | eISBN: 0-7918-1691-5, 0-7918-1692-3, 0-7918-1693-1
  • Copyright © 2002 by ASME


In this paper a fuzzy logic based control strategy has been applied to balance an inverted pendulum. An inverted pendulum in itself is a highly unstable system since there is always some external disturbance present that makes it to fall. Therefore, to maintain it in an upright position, a control input is needed, that could be in the form of torque, moment or force. Here an inverted pendulum with a rotary arm is chosen for study. The arm is driven in the direction of fall of the pendulum. This action attempts to stabilize the pendulum in the upright configuration. The fuzzy control action controls the torque applied to the actuator and thus controls the pendulum. A fuzzy inference system is constructed using Matlab. This is used to compute the output torque for a given set of angle and velocity. The same system is subjected to a Quadratic Optimal Control scheme, and the simulation results obtained from the fuzzy control system and Linear Quadratic Regulator control (LQR) scheme are compared.

Copyright © 2002 by ASME



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