Swing up and Stabilization of Rotary Inverted Pendulum using TS Fuzzy

This paper presents an approach for the swing up and stabilization of a rotary inverted pendulum (RIP). RIP system is an unstable, multi-variable, under actuated and highly nonlinear in nature. RIP consists of a pivot arm, the pivot arm rotates in a horizontal plane by means of a servo motor. The opposite end of the arm is attached to the pendulum rod whose axis is along the radial direction of the motor. The task is to design a controller that swings up the pendulum, and keeps it in upright position. Swing up action is based on the energy principle whereas stabilization uses Takagi Sugeno Fuzzy controller. A mode controller is used to decide which control action is to be implemented. Mode controller is basically a condition check on the angle of the pendulum rod. Finally MATLAB SIMULATION results reflect the performance of the RIP system with the stated control actions.