Hybrid Fuzzy Control of Nonlinear Inverted Pendulum System

Abstract

Complexity and nonlinear behaviours of inverted pendulum system make its control design a very challenging task. In this paper, a hybrid fuzzy adaptive control system using model reference approach is designed for inverted-pendulum system control. The proposed method is developed to achieve position control and later simultaneous control of position and pendulum angle in the same control loop. Also, the control algorithm is applied to achieve control objective of reference tracking, disturbance rejection and robustness to parameter variation. The performance of the proposed control scheme was compared with conventional PID and LQR controllers. The simulation results showed that the proposed control scheme provides high-performance dynamic characteristics and is robust with regard to parametric variations, disturbance and reference tracking compared to the comparatives